Stanford Robotics - RoboSub

Introduction

As part of the Stanford Robotics Club, which includes graduate students, master's students, ZipLine employees, and NVIDIA Robotics Perception employees, our team is participating in RoboSub, an international competition that invites participants to tackle simplified versions of challenges facing the underwater maritime industry. These challenges may include oceanographic exploration and mapping, detection and manipulation of objects, and pipeline identification.

Design

My responsibilities in the RoboSub project encompassed both mechanical and software aspects. I conducted actuator studies to select the appropriate components for precise underwater maneuvering. I designed the robot's robust body, ensuring watertight sealing, optimizing hydrodynamics, and selecting suitable materials to withstand pressure and corrosion. Additionally, I CAD-modeled components like motor mounts and electronic housings. On the software side, I learned computer vision techniques for autonomous navigation, perception algorithms using ROS, computer vision libraries, and decision-making algorithms.

Skills

  • Proficiency in computer-aided design (CAD) software for 3D modeling and simulations

  • Advanced robotic body analysis to consider different situations the robot could encounter underwater

  • Mechanical engineering of kinematic calculations, compression and deflection calculations, Matlab skills 

  • Expertise in PCB design and application, familiarity with ROS software, and application of computer vision and AI techniques, including training neural networks for command control and robotic maneuvering

  • Mechanical engineering skills, including kinematic calculations, compression and deflection analysis, and proficiency in MATLAB, and AUTOCAD, 3D Printing

  • Knowledge of pneumatics and servo systems for underwater robotics applications

Deliverables

While the project is still in progress, the ultimate goal is to develop a robot capable of submerging up to 30 feet underwater and maneuvering autonomously around obstacles. The robot will leverage the designed mechanical structure, electronics, and software systems to perform various tasks and challenges encountered in the underwater maritime industry.