Future work

For development work currently. Describes most tasks for Modularis from most crucial to least (Red being most immediate, 3 being least)

Threat level Red

  • Power Pi from battery (complete)

  • Modularis backup part system up and running- controlled by joystick

  • Pose and image data to linux laptop

Threat level 1

  • Fix sonar mounts such that the sonar fits correctly

  • Integrate Sonar such that Raspberry Pi receives sonar data into a node from the LattePanda board

  • Acquire documentation on all mechanical designs

  • Have Isabel and Daniel write about their designs after making outline

Threat level 2

  • Containerizing the existing ROS2 system and testing portability between Jetson Nano and Pi - Senior Design task

  • Battery merge board for connecting power from both batteries into one

  • Excel sheet where you can select which items you want

  • Thruster connector: make a connector that allows for easy connect and disconnect of all thruster wires from the electronics enclosure for easy removal

  • Make our own 3D printed black board for mounting ESC’s

  • Make modifications to enclosure wheels to give space for everything to fit appropriately

    • USB ports

    • More space for thruster wires

    • Main board “bend” issue

Threat level 3

  • Test Modularis with larger (8 inch) tube

    • This is a larger project, but would allow for larger onboard computers

  • Test Modularis docker container on TI board

  • Make necessary structural readjustments to account for fitting TI board

Challenges

  • Battery balance not accessible to power board

  • Neither is charger header since both connected to battery

  • Efuse doesn’t work not enough amps

  • PWM wires are super annoying to plug in through the hole in the main board. Need a simpler way.

Future Work Ideas

What if we made Modularis completely printable? Replacing all the parts from bluerobotics (besides tubes, perhaps?) Other groups are trying to do this, such as Yonder deep at UCSD, Scripps

Senior Design Projects

Tracking Contributions made by senior design students throughout the years.

Fall 2022

  • Victoria and Camille

Spring 2023

  • Cale and Ethan

Fall 2023

  • David and Janica

Spring 2024