Repository for the YonderDeep 2020-2024 Nautilus AUV (Autonomous Underwater Vehicle) developed at Franklin Antonio Hall, UC San Diego for the research and study of global anthropogenic climate change.
The codebase is split among two machines:
- a base station (a Windows 10 / macOS / Linux machine)
- Nautilus (an AUV with a Raspberry Pi 3 running Raspbian)
Development will be done in Python3 using the PEP8 style guidelines (VSCode strongly encouraged).
- Uses spaces (4 per indentation) instead of tabs.
- Utilizes the autopep8 for automatic formatting.
Feel free to use the included settings.json file for VSCode development
- Automatically enables autopep8 functionality with VSCode
- Format-on-save enabled by default.
- Python linting disabled by default. (a runtime language like python should not rely on linting)
This machine communicates with the AUV using radio communication. Its main role is selecting and beginning missions for the AUV. It also receives data wirelessly from the AUV and outputs to an in-house Python GUI.
Any Unix-like Machine (preferebly Ubuntu 16.04LTS+)
A 915 MHz Radio (required)
Xbox 360 Controller (optional)
GPS device compatible with gpsd (optional)
python3-tk (for use with tkinter UI development)
python3-pip (enable pip package manager)
xboxdrv (Xbox Controller Driver)
gpsd
gpsd-clients (for the cgps program, optional)
tkinter
matplotlib
pyserial
gps3
screeninfo
autopep8 (optional)
A practical, 3D-printed multi-mission modular AUV, housing many sensors including pressure, audio (hydrophones), and GPS. It can also be adapted to implement sonar, salinity, PH, and temperature sensors.
A fully assembled, 3D-printed Nautilus AUV also includes:
Raspbery Pi 3 running Raspbian
915 MHz Radio
GPS Sensor
Pressure sensor
BNO055 IMU (intertial measurement unit)
4 Underwater motors (Blue Robotics)
Blue Robotics End-Caps
Various acoustic acquisitions devives (made from ADC's and MCU's)
NOTE: that this does NOT include specialized YonderDeep PCBs, PDMs, batteries, or cables.
Python 3.5+ with pip
gpsd
gpsd-clients
IMU Library/Drivers
and many more...
This will continue to be updated as development continues.
pyserial
adafruit-circuitpython-bno055 (our Inertial Measurement Unit)
and many more...
The Nautilus AUV is designed to perform a wide variety of aquatic "missions", many of which involve the research and development of:
- Underwater acoustic processing (acoustic)
- Autonomous underwater navigation
- Sonar echolocation
Most development takes place at the MESOM Laboratory in the Scripps Institution of Oceanography at the University of California, San Diego. Due to the COVID-19 pandemic, software development will continue remotely for the forseeable future.
Pranav Mehta, Software Development Lead 2023-2024
- Computer Engineering
- UCSD Graduation: 2026
Yashil Vora, Junior Software Development Lead 2023-2024
- Computer Science
- UCSD Graduation: 2026
George Wu, Software Development
- Computer Engineering
- UCSD Graduation: 2024
Deepta Bharadwaj, Junior Software Development Lead 2022-2023
- Bioengineering
- UCSD Graduation: 2025
Girish Krishnan, Software Development Lead 2022-2023
- Electrical Engineering, Specialization in Machine Learning and Controls
- UCSD Graduation: unknown
Abirami Sabbani, Software Development Lead 2021-2022
- Math - Computer Science
- UCSD Graduation: 2022
Stephen Boussarov, Software Team Advisor
- Computer Science
- UCSD Graduation: 2022
Eric Estabaya, Software Development
- Computer Science
- UCSD Graduation: 2022
Clair Ma, Software Development
- Computer Science - Bioinformatics
- UCSD Graduation: 2023
Kevin Medzorian, Former Software Team Lead
- Computer Science
- UCSD Graduation: 2021
Sean Chen, Software Development
- Mathematics - Computer Science
- UCSD Graduation: 2024
Christopher Hughes, Software Development
- Computer Engineering
- UCSD Graduation: 2024
Aleksa Stamenkovic, Software Development
- Computer Science
- UCSD Graduation: 2023