Autonomous Submarine - Naval Innovation Club
Autonomous Submarine - Naval Innovation Club
Embedded Files
Project Overview
Project Overview
This project is part of the Cal Poly Submarine Club, where I am contributing to the design and development of a remotely operated and partially autonomous submarine. The goal is to create an underwater vehicle capable of navigation, stability control, and sensor integration for future research and competition applications.
The submarine will integrate mechanical systems, electrical hardware, and embedded control software, while focusing on waterproofing, buoyancy management, and efficient propulsion.
System Specifications
System Specifications
Microcontroller / Compute: STM32 or Jetson (for autonomy)
Propulsion: Dual thrusters with ESCs for forward/reverse and maneuvering
Power: Lithium battery pack with waterproof housing and regulation modules
Sensors:
IMU for orientation and stabilization
Pressure/depth sensor for underwater positioning
Ultrasonic/sonar module for obstacle detection (planned)
Control: PID-based stabilization for pitch, roll, and depth control
Hull: 3D printed or machined watertight casing with O-ring sealed compartments
Communications: Tethered UART/Ethernet link (with future goal of wireless acoustic comms)
Design & Architecture
Design & Architecture
Mechanical:
Cylindrical hull with modular sections (electronics bay, propulsion, ballast system).
Waterproofing through O-rings and epoxy-sealed connectors.
Electrical:
Central PCB for power distribution and motor control.
External tether for debugging and telemetry.
Software:
Low-level embedded C for thruster control.
High-level Python/C++ (if Jetson used) for autonomy and sensor fusion.
Build Gallery
Build Gallery
Project Demo
Project Demo
Results & Lessons Learned
Results & Lessons Learned
Results (Expected)
Stable submerged navigation with active depth control.
Reliable waterproofing and modular electronic bay design.
Successful short-range test in pool/tank environment.
Roadmap for integrating autonomy (sonar mapping, waypoint navigation).
Lessons Learned (Ongoing)
Waterproofing is a primary engineering challenge — O-rings, epoxy sealing, and wire pass-throughs require iterative testing.
Buoyancy tuning is critical — small weight differences drastically affect stability.
Synchronizing propulsion with stabilization loops demands precise ESC calibration.
Collaborative teamwork is essential across mechanical, electrical, and software subteams.
Documentation
Documentation
PolySub EE Roadmap.pdfEE Subsystem Roadmap
Poly Sub EE Systems Overview.pdfEE Systems Overview
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