Krabby Patty
Refined for reliability and strategic task execution. Features an octagonal aluminum frame with custom CNC-milled 6061-T6 components, dual ZED 2i stereo cameras, NVIDIA Jetson Orin Nano, a double-jointed servo-powered claw, and a YOLOv8 vision pipeline with 3D spatial localization.
At a glance
Specifications
- Onboard computer
- NVIDIA Jetson Orin Nano
- Flight controller
- Pixhawk PX4
- Via MAVROS / MAVLink
- Cameras
- 2x Stereolabs ZED 2i
- Depth, 6-DoF tracking, built-in IMU
- Frame
- Octagonal aluminum
- 1010 extrusions + CNC-milled 1/4 in 6061-T6 plates
- Thruster layout
- BlueROV2 Heavy
- Six degrees of freedom
- Main compartment
- Custom welded aluminum
- 2 windows, 10 ports, 4 latches
- Power
- 14.8 V LiPo
- Two packs in parallel via a custom combiner board
- Software
- ROS 2, YOLOv8, ZED SDK, Nav2
- Team
- 19 students
- 6 mechanical, 4 electrical, 9 software
Design
Highlights
Shallow octagonal frame
Replaced 2024’s tall rectangular frame, which caused significant drag, with a shallow octagon for better handling and hydrodynamics.
In-house hull
The main compartment, nicknamed the "patty", was machined and welded in-house from 6061 aluminum, sealed with custom silicone O-rings and a 3/4 in lid.
Double-jointed claw
A servo-driven double-joint keeps the claw’s hands parallel. Task-specific grips hold the cup, lid, and ladle, and the claw retracts upward when docked.
Combined torpedo + dropper
One servo and a compound gearbox drove a 360° barrel: spring torpedoes fired at 30° and 60°, and markers dropped through offset holes.
First electrical subteam
New battery combiner, high-power, and low-power boards. The kill switch stopped the thrusters while keeping the Jetson powered, so software did not need to reboot between runs.
SHRUB behavior tree
Mission planning moved from a finite state machine to a behavior tree with a shared blackboard, validated in Gazebo simulation with ArduPilot SITL before pool tests.