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Dive into Qubo

noun. [pron. que-BO] The University of Maryland’s second generation competitive AUV.

Qubo Technical Image

Components + Parts

Dimensions

0.4 x 0.3 x 0.3 meters

Structural Components

Blue Robotics 6" Watertight Enclosure

Purple Buoyancy Foam (From SSL Stock)

Custom Made Frame

Sonar Equipment

PCB Piezotronics 106B50 Acoustic Pressure Sensor

Mass

49.5 pounds, 22.452 kgs

Maximum Velocity

Untested

Propulsion Control

Blue Robotics T200 Thrusters + Propellors (x8)

Blue Robotics Basic ESC

High - Level Control

Teledyne Explorer Depth Velocity Logger (DVL)

PNI TRAX1 Attitude Heading Reference System (AHRS)

Batteries

Gens Ace 5000mAh 4S Lithium Polymer Battery

Connectors

Blue Robotics M10 Potted Connectors

Custom-Made Components

Torpedo Launch System 

On Board Software

Robot Operating System v. 8 (Humble)

Ubuntu 22.04

Development and Simulation Software

Gazebo Sim 11.0.0

SolidWorks 2023

Computers and Boards

Seeed Studio reComputer J2021 - Edge

with Jetson Xavier NX8 GB

Custom Power Board (with Voltage Stepper)

Stereo Vision Cameras

Stereolabs ZED 2 AI Stereo Camera

Allied Vision Mako G - 131C 1280 x 1024 GigE Camera

Dimensions

0.4 x 0.3 x 0.3 meters

Structural Components

Blue Robotics 6" Watertight Enclosure

Purple Buoyancy Foam (From SSL Stock)

Custom Made Frame

Sonar Equipment

PCB Piezotronics 106B50 Acoustic Pressure Sensor

Mass

49.5 pounds, 22.452 kgs

Maximum Velocity

Untested

Propulsion Control

Blue Robotics T200 Thrusters + Propellors (x8)

Blue Robotics Basic ESC

High - Level Control

Teledyne Explorer Depth Velocity Logger (DVL)

PNI TRAX1 Attitude Heading Reference System (AHRS)

Batteries

Gens Ace 5000mAh 4S Lithium Polymer Battery

Connectors

Blue Robotics M10 Potted Connectors

Custom-Made Components

Torpedo Launch System 

On Board Software

Robot Operating System v. 8 (Humble)

Ubuntu 22.04

Development and Simulation Software

Gazebo Sim 11.0.0

SolidWorks 2023

Computers and Boards

Seeed Studio reComputer J2021 - Edge

with Jetson Xavier NX8 GB

Custom Power Board (with Voltage Stepper)

Stereo Vision Cameras

Stereolabs ZED 2 AI Stereo Camera

Allied Vision Mako G - 131C 1280 x 1024 GigE Camera

Dimensions

0.4 x 0.3 x 0.3 meters

Structural Components

Blue Robotics 6" Watertight Enclosure

Purple Buoyancy Foam (From SSL Stock)

Custom Made Frame

Sonar Equipment

PCB Piezotronics 106B50 Acoustic Pressure Sensor

Mass

49.5 pounds, 22.452 kgs

Maximum Velocity

Untested

Propulsion Control

Blue Robotics T200 Thrusters + Propellors (x8)

Blue Robotics Basic ESC

High - Level Control

Teledyne Explorer Depth Velocity Logger (DVL)

PNI TRAX1 Attitude Heading Reference System (AHRS)

Batteries

Gens Ace 5000mAh 4S Lithium Polymer Battery

Connectors

Blue Robotics M10 Potted Connectors

Custom-Made Components

Torpedo Launch System 

On Board Software

Robot Operating System v. 8 (Humble)

Ubuntu 22.04

Development and Simulation Software

Gazebo Sim 11.0.0

SolidWorks 2023

Computers and Boards

Seeed Studio reComputer J2021 - Edge

with Jetson Xavier NX8 GB

Custom Power Board (with Voltage Stepper)

Stereo Vision Cameras

Stereolabs ZED 2 AI Stereo Camera

Allied Vision Mako G - 131C 1280 x 1024 GigE Camera

Mechanical Engineering Overview

The mechanical engineering team has been working hard this year to bring important advances to Qubo. Some of the key improvements our team have worked on this year are a modernized and brand new torpedo launcher system, an improved electronics hull, initial development on a pneumatics and hydraulics system that will be continued next semester, and a claw system with a unique design focused on simplicity and effectiveness. These new updates have helped replace old mechanisms, leading to an overall enhancement of Qubo's capabilities.

Qubo Technical Image
Torpedo Launcher System

Torpedo Launcher System

Qubo’s new torpedo launcher uses a unique “double action” mechanism that uses one stepper motor to compress the springs as well as fire two torpedoes. This mechanism linearly actuates the “firing sled” via threaded rod and lead screw similar to a 3D printer. The sled slides forward to release the two levers that keep the springs compressed. Each torpedo is fired when the sled reaches a different position, allowing for independent firing of each torpedo. When the motor spins in the opposite direction the sled moves backwards which pull back the two “plungers” compressing the springs and resetting the system.

Electronics Hull

Qubo has taken a modular approach to its main hull, through its consistent mounting holes and cube-like shape (which was inspiration for our name, Cube-O!). It is made of 6061 aluminum, which is relatively inexpensive and extremely resistant to water corrosion. The main panels were cut from a water jet, which uses a high power stream of water to cut cleanly through the material. From here, all the components can be attached with separate brackets - this strategy allows the robot to be easily modified as the team adapts to new technologies and makes upgrades. Of these components are 8 Blue Robotics T200 Thrusters, which allow for precise movement and control in pitch roll and yaw. There’s also room for a massive Doppler Velocity Logger (DVL), multiple cameras, a torpedo launcher and a claw. Qubo contains all of its electronics in a battery hull and a main electronics hull. This hull was developed by Blue Robotics, but filled with our own custom PCBs, computers and drivers to power our systems and control the robot.

Electronics Hull
Pneumatics Hydraulics System

Pneumatics and Hydraulics System

The pneumatics project is intended to serve as a replacement for much of the mechanical actuation in the robot’s end effectors, which are currently actuated with electric components. This allows for a more watertight system, as the air-powered mechanical aspects will be less susceptible to water damage and only the central solenoids will require advanced waterproofing. The current design for the pneumatics system relies on a series of airtight 3-way solenoids and check valves, capable of actuating up to 4 separate end effectors at air pressures of over 100 psi. The plan is to be capable of actuating any of the other projects listed here - for example, the claw and torpedo - with this system rather than motors and similar machines.

Claw System

The claw mechanism is designed with a few goals in mind. Robustness of design was first priority in order to stand up to the rigors of testing and competition, with simplicity of manufacturing and use not far behind. Lastly, the claw had to be compact to fit underneath Qubo. In order to achieve these goals, the claw has been made as simple and foolproof as possible. A rack and pinion mechanism allows a single input torque to accurately actuate the two halves of the gripping system, which moves perpendicular to the direction of load to improve grip strength. The entire claw fits within an approximately 3x3x3.2 inch area. It is able to be 3D printed without support material for rapid prototyping, and the actual grasping surfaces can be redesigned and reprinted easily.

Claw
Robotics at Maryland

Neutral Buoyancy Research Facility, 4436 Technology Drive, College Park, MD, 20742

3rd Floor Robotics Lab, E.A. Fernandez IDEA Factory, 4462 Stadium Drive, College Park, MD, 20742

Meetings 7 - 9 PM Wednesdays, 1 - 4 PM Sundays. Join our Slack for meeting locations.

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