ORCA
Coming soon.
Vehicle Overview
Specifications
Vehicle NameORCA
Dimensions60 × 40 × 30 cm
Weight (dry)12.5 kg
Weight (wet)~0.5 kg positive buoyancy
Max Depth5 meters
Thrusters8× Blue Robotics T200
Battery14.8V 4S 10Ah LiPo
Runtime~2 hours
ProcessorNVIDIA Jetson Orin Nano
Cameras2× (forward + downward)
IMU9-axis (accel, gyro, mag)
Depth SensorBar30 pressure sensor
FrameworkROS 2 Humble
Hull Material3D printed PETG + acrylic tubes
Subsystems
Propulsion
Eight Blue Robotics T200 thrusters in a vectored configuration provide full 6-DOF movement. Custom ESC interface board manages thruster allocation.
Vision
Dual-camera system with YOLOv8 object detection running on NVIDIA Jetson. Forward camera for navigation, downward camera for bin tasks.
Controls
Cascaded PID controllers for depth, heading, and position hold. Extended Kalman Filter fuses IMU, depth, and camera data for state estimation.
Hull & Frame
Modular torpedo-style hull with 3D-printed PETG frame and acrylic pressure tubes. Quick-release end caps for rapid electronics access.