ROV Scorpion 2.0: Marine Robotics Platform
Remotely Operated Vehicle for underwater inspection, thruster kinematics, and embedded control
Problem Context & System Scope
ROV Scorpion 2.0 is an advanced marine robotics platform engineered to perform precision underwater exploration, structural inspection, and environmental telemetry gathering.
Features a multi-thruster vectored configuration capable of 6-DOF station keeping, pitch/roll compensation, and low-latency command reception over high-bandwidth tether links.
Designed and validated within the UIU AURA Crew Robotics team at United International University.
Technical Breakdown & Pipeline Engineering
Vectored Thruster Kinematics
Coupled mathematical transformation from pilot inputs to motor PWM signals.
- Vector decomposition matrices resolving surge, sway, heave, pitch, roll, and yaw into individual thruster duties.
- Deadband filtering and acceleration limiting to protect electronic speed controllers (ESCs).
Embedded Control & Telemetry Ingestion
Subsea avionics and sensor monitoring.
- Ingestion of depth/pressure sensors, internal humidity, temperature, and 9-DOF IMU orientation.
- Real-time packetization over serial/Ethernet umbilical tether to topside control station.
Engineering Hardships & Resolution
Tuned closed-loop PID stabilizers operating on IMU gyroscopic feedback to automatically maintain attitude during thruster bursts.
Quantitative Results & Impact
- Validated in field testing for underwater stability and remote command responsiveness.
- Formed the core autonomous marine systems research baseline for UIU AURA Crew Robotics.