### DESCRIPTION ( Introduce yourserlf and your project)

IllinoisAUV builds autonomous submarines for the annual RoboSub competition in San Diego. Each submarine completes a set of visual, manipulation and acoustic tasks without any human intervention, or contact with the surface.

This is our second year as a team, and we're looking to improve on our 22nd place finish last year as a rookie team.

### TECHNICAL DETAILS (With project photos)

We build the submarine from scratch, designing boards, lasercutting plastic and writing code to complete the specified tasks, such as ramming brightly colored buoys and shooting torpedos. The electronics fit inside a watertight tube and control the thrusters of the sub for 6 degree of freedom movement. We use a Jetson TX2 and a Pixhawk autopilot for the main control, and Afro ESC's to handle motor control.

We are currently designing the electronics to hold and connect all of our computers, sensors and actuators. Each component will be composed of a pluggable edge card to ease replacement and upgrades of components. The cards will plug into a backplane that routes connections between them, and holds larger components, such as our Jetson and IMU. We hope that these boards can be reused for multiple years by only switching individual cards out.

### Words to PCBWay

I've used PCBWay in the past for personal projects, and I've always found the boards to be affordable and high quality. Being a second year team, we don't have too much funding, so any help that PCBWay can provide would be greatly appreciated.

• robotics
• submarines
• robosub