The mechanical systems consist of the vehicle structure, upper hull, actuators, and external enclosure subsystems. These are responsible for keeping electronic components sealed, and provide mounting points and protection for all of the sensors and enclosures. All custom mechanical parts were designed in CAD software (SolidWorks) and machined by team members .
|The Upper Hull Pressure Vessel (UHPV) protects and supports all of the serial, power, and sensors infrastructure for Drekar. It contains the computer and actuator control infrastructure. The UHPV also serves as the interface between the internal boards and the external devices.
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|The vehicle frame supports all of the pressure vessels, actuators, and sensors. The frame is constructed of aluminum box tubes and is designed to maximize rigidity and compactness.
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|Drekar utilizes a number of custom and COTS electo-mechanical components to make the AUV more than a series of (aluminum) tubes. The commercial thrusters give five degrees of freedom, and custom pneumatics system accomplishes the mission tasks.
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|Drekar's external pressure vessels contain various electrical systems located necessarily outside of the upper hull pressure vessel. These waterproof vessels isolate the systems from unwanted noise and allow for flexibility in the construction of the vehicle. Systems contained in external pressure vessels include the forward and downward facing AVT Guppy cameras, the hydrophones passive acoustic system, and switchbox.
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