Lapras 2.0

Our latest development

CAD Rendering of the Vehicle

CAD Rendering of the PCB

CAD Rendering of the Frame

Design of the Dropper System

Rendering of the Gripper System

E-Tray design of the vehicle

Battery Management System Design

Collapsed view of the Bot

Our latest Autonomous Underwater Vehicle, prepared for the RoboSub 2022 competition. LAPRAS is the flagship Autonomous Underwater Vehicle developed at Delhi Technological University.Using the insights from Robosub 2021 , Lapras 2.0 has enhanced upon the capabilities of its predecessor. Manipulators have been upgraded for better dynamics in autonomous operations.Vision algorithms have been finely tuned which has led to a massive improvement in the success rate of object detection.

Lapras 2.0 Journal

Lapras Arkaja 2.0 Varuna 3.0 Arkaja Varuna 2.0 Arya Zariya Zyra 2.0 Zyra 1.0 Varun

Lapras

Our latest Autonomous Underwater Vehicle, prepared for the RoboSub 2021 competition. The vehicle marks a significant improvement on our previous vehicles since it is our latest vehicle equipped with a functioning acoustics system. The end product is a cost-effective, robust and small design capable of underwater gripping, dropping, torpedo launch, acoustic localization and advanced image recognition algorithms.

Lapras Journal

Arkaja 2.0

A remotely operated vehicle developed for the MATE ROV competition, Arkaja 2.0 is our second remotely operated vehicle. Equipped with 2 grippers and basic autonomous operation such as line following and image recognition, Arkaja 2.0 is a small vehicle capable of simple shoreside and shallow water operations, we were able to achieve a much smaller vehicle by utilizing a cuboidal hull rather than a cylindrical hull.

Arkaja 2.0 Journal

Varuna 3.0

Developed for the Singapore Autonomous Underwater Vehicle Challenge 2020, Lapras is an autonomous vehicle capable of image recognition, underwater gripping and has 5 degrees of freedom. Built with an aluminium frame to allow for a lightweight and robust vehicle.

Arkaja

Our first design at a Remotely Operated Vehicle (ROV), Arkaja is armed with two claw shaped forward facing grippers with a shoulder elbow movement for dynamic object retrieval of various shapes and sizes from the seabed to the surface.The vehicle stood 2nd in the engineering presentation during MATE ROV 2019.

Varuna 2.0

A vehicle with a lightweight frame made via Acrylic Bending, Varuna 2.0 is a sleek and light vehicle capable of machine vision, payload dropping and torpedo launching tasks with 5 degrees of freedom. The vehicle's initial design report won the CDR category at NIOT 2019.

Varuna 2.0 Journal

Arya

Has special features like Onboard Image Processing Autonomous Navigation, Acoustic Sensing And Chemotaxis pipeline and Object Detection along with Object Retrieval with arm.

Arya Journal

Zariya

Has special features like Onboard Image Processing Autonomous Navigation, Acoustic Sensing And Chemotaxis pipeline and Object Detection Object Retrieval with Autonomous Arm and Torpedo Arm.

Zyra 2.0

The team's main objective was to design and develop an autonomous underwater vehicle for the AUVSI and ONR International Robosub 2014 competititon. The competition is held at the TRANSDEC facility, part of SPAWAR Systems Center Pacific in San Diego, California. 'ZYRA' has six degrees of freedom for performing the following tasks underwater: 1) target localization and homing, 2) buoy detection, 3) path following, 4) obstacle detection and obstacle manipulation tasks.

Zyra 2.0 Journal

Zyra 1.0

Autonomous Underwater Vehicles are powerful and complex systems which are capable of performing underwater ( shallow and deep sea) tasks like bathymetry calculation, detection of faults in oil pipelines, collection of deep sea water samples, counting of fish and even complex tasks like collecting data which aids in understanding global warming. ‘ZYRA’ (5th generation vehicle) has been developed by us. The design and development as well as rationale behind the design of various systems such as the Control systems, mechanical design, embedded and power systems, vision and acoustics location estimation system which form the integral part of ZYRA has been discussed in the paper.

Varun

VARUN was an Autonomous Underwater Vehicle (AUV) developed by our team to compete in the 12th International Autonomous Underwater Vehicle Competition organized by Association for Unmanned Vehicle Systems International (AUVSI) and the U.S Office of Naval Research (ONR) at the U.S. Navy’s Space and Naval Warfare Systems Centre (SPAWAR) TRANSDEC Facility in San Diego, California, USA. Team DCE-AUV has pursued this endeavor for over two years and has brought about many improvements in technology with time. This Journal Paper presents the various architectural, software and design changes made to the third generation vehicle.

Varun Journal

Research And Development

Power Distribution Board

A Power Distribution Board (PDB) was designed to power all the electronics inside the vehicle. The 12VDC input is used to power the GPIO board. PDB has buck converters that convert the input voltage to 7V and 5.1V respectively. A DPDT switch has been used as a kill switch, connected between the GPIO board and the PDB, to halt the operation of the vehicle.

Power Distribution Board

GPIO Board

A GPIO board has been developed for the integration of sensors and actuators. The Arduino Mega 2560 has been used as the microcontroller and is powered through the PDB. In turn, the Arduino powers the sensors on the GPIO board, receives the sensor data and provides the PWM inputs to the Electronic Speed Controllers and the Servo Motors as well. We have developed a common PCB that act as a routing interface between all the components in the electronic system thus eliminating the jumper wires. It enables us to use various pins from the micro-controller with greater accessibility and better connections. It also contains pair of mosfet switches in order to command actuators used for manipulators. As the connections between the components are more reliable and secured thus it helps the team in rapid troubleshooting.

GIPO Board

Cutoff/Switching Circuit

Every lithium polymer battery has a certain voltage beyond which if operated the battery goes into deep discharge and is rendered useless. So the team has developed a cutoff/switching circuit which successfully cuts of a battery from operation before it can reach deep discharge and at the same time switches to a second battery. This enables a fluid output to the bot throughout its operation and also preserves the battery for future use.

Custom Leak Sensor

In the emergency situations the undesirable circumstances and other manual assembly errors may cause leakage in the enclosure containing the electronic and the power stack. Since the components are costly and are prone to damage under such conditions, we have developed a custom leak sensor in order to send signal on the shore about the leakage and also commands he siren to inform the diver as many times the leakage is not clearly visible to the diver.