VARUN

The God of Oceans

Key Aspects

  • Modular design for easy assembly and installation
  • Staging vehicle to carry out experiments
  • Intended for autonomous underwater inspection and data collection
  • Upto 4 hours of continuous operation capability
  • Budget of Rs. 745,000

 

Exploded View of Varun

Mechanical Subsystem

  • Five degrees of freedom
  • Weigth of 44.5 kg with +1% buoyancy
  • Max coefficient of drag at 1.5 m/s 0.42
  • Motion through 6 brushed-DC Seabotix thrusters
  • Pneumatics actuation for torpedo shooting
  • Fabricated using in-house manufacturing facilities
 

Electrical Subsystem

  • Powered by four 3S Lithium-Polymer Batteries
  • Custom made power-distribution board with protection and monitoring circuits
  • Two Logitech C290 cameras for 1080p video feed
  • Bluerobotics Depth Sensor for precision depth
  • Intel NUC for high-processing power

Schematic Diagram of Power Distribution Board

 

Frameworks in Varun's Code

Software Subsystem

  • System integration through ROS on Ubuntu 14.04
  • Simulation through Gazebo to optimize testing time
  • Image processing to perform vision-based tasks
  • Navigation through dead-reckoning sensors
  • GUI enabled control for debugging
  • Code available on GitHub with documentation under BSD-3 License Clause