SCUBO_03 1

The SCUBO 2.0 is the first developed UUV of Tethys Robotics. It was build out of the enclosure of the SCUBO UUV from the ASL ETH focus project of 2015 – 2016. The team (specially from Yvain De Viragh) supported the further development of the robot to create the SCUBO 2.0.

The main goal for the UUV was the participation in the biggest ROV (remote operated vehicle) competition in the world, the 2019 MATE International ROV Competition. Therefore, the system had to be ready for shipping in 4 months (mid February till mid June). In this short period, the controller software, power electronics, new camera and thruster setup had to designed, tested and improved for the competition. 

The design goals for the system were strongly adjusted to the regulations of the competition. But mainly the key design requirements are:

  • Safety of pilots and environment
  • Expandable system
  • Intuitive handling
  • Being able to accomplish competition tasks efficiently

To fulfil this, our approach was to develop an omnidirectional controller with a simple gripper and a stereo camera with tilt mechanism. The pilot is then able to see in 3D due to the camera setup which outputs the images to a VR headset on the control station. The system is also able to rotate and hold any orientation in the water. 

Inside the enclosure, there is a NUC which runs ROS as our main communication system between all electronic components. The connection to the control station consists of an ethernet cable and a power cable which delivers only DC power with 48 V. The system can consume up to 1’440 W with an own developed on-board DC-DC converter. 

The electronics enclosure consist of carbon fiber and anodized aluminium which enables an application depth of 25 m, enough for any inshore operations. The thruster arms, the claws and the holding frame of the manipulator are 3D printed out of PET with 70% infill density. This facilitates a fast and cheap replacement without compromising performance.