Battery

Our ASV incorporates a wide variety of tried and tested systems and architectures. The boat uses one Livox HAP TX LiDAR along with an HDR camera for perception, and a 5ghz Ubiquiti multi-directional antenna for communication. Our ASV runs data from 2 GPS sensors and an IMU through a Kalman filter to accurately ascertain its position and motion. In order to process this information, our ASV has one NUC single board computer using ROS 2, and sends commands to 2 T200 motors for propulsion. To power all of these components and more, the boat uses one standard drill battery. Incorporating off-the shelf battery solutions reduces cost and increases reliability.

To optimize MiniMinion's performance, Team Minion redesigned the motor mounts, addressing critical issues like structural leaks and inefficiencies in the inherited design. The new mounts ensure water-tight seals and improved durability while simplifying the propulsion system. By transitioning from azimuthing motors to a streamlined fixed-motor configuration, the system offers reliable surge and yaw control, striking a balance between simplicity and robust functionality. This upgrade enhances MiniMinion's ability to navigate complex challenges with precision and reliability.

Water Cannon

The Miniminion ASV will attempt Task 5: Water Delivery using an onboard water jet. The water jet consists of a SeaFlo water pressure pump, shown in the right figure, which intakes water from the vessel’s surroundings and pumps it through a small nozzle, shown in the left figure. The nozzle on the left figure is equipped with a waterproof high-torque servo that is controlled via PWM. In this mounting configuration, the servo can provide up to 90°of pitch, though the water jet will not require this full range of motion. Additionally, the water jet is placed on the bow of Miniminion to allow feedback for the frontal facing sensor suite. This configuration allows the water jet to shoot water around 42 m/s with an approximate pressure of 133 PSI!