This is It!
Scubo consists of a central unit in the form of a cuboid in which the electronics are stored. A duct goes through this unit to improve the fluid-dynamics and the cooling of the inner electronics. The eight thrusters are attached to the central unit by the so called thruster arms. These thruster arms allow for adding weight in the form of screws and nuts to adjust the buoyancy and the balance. Further on each side except the top a modular port is attached to the robot. To this ports additional sensors, cameras or light can be attached. For each of the six directions a steering camera is positioned on the outer wall.
The outer dimensions of Scubo are 75 x 35 x 32 cm. With a total weight of 25 kg, the system is roughly neutrally buoyed and weight in the form of screws can be added to the thruster arms to adjust buoyancy and the center of gravity. Two metal tubes on the top and two on the bottom enable easy lifting and placing on the ground.
The central part of Scubo is a carbon box which contains all the electronics and is sealed with two aluminum hatches on the sides. Eight thrusters are symmetrically mounted at the outside, one at each corner of the box. To ensure good water flow, there is a tube through the box with the openings behind the thrusters. The water flow through the tube also helps cooling the electronics.
Six webcams are mounted around the robot, one facing in each direction. The stereo camera is positioned at the bottom front and has a slight angle downwards in order to examine objects in front of the robot and on the sea floor, estimate distances and perform mapping. Two lights mounted to the aluminum hatches illuminate the main direction without lighting water and floating particles directly in front of the cameras to avoid image disturbance.
In addition, on each side except for the top there is a modular port with USB 3.0 connection for additional sensors. All the seals and connectors are approved to withstand a pressure of at least three bars. The modular ports and camera housings are again sealed off from the central box in order to protect the inner electronics in case of a leak after mounting a new sensor. An IMU sensor and a pressure sensor are built in and used for orientation and control together with the stereo camera.
A tether connects the robot to a computer outside the water and the power source. This allows the camera pictures to be viewed live, and the batteries can be recharged with a steady current. This highly extends the operation time, while the batteries would last approximately 120 minutes under standard conditions without recharging.