MATSYA 6D is AUV IIT Bombay's most advanced autonomous underwater vehicle, designed for RoboSub 2024! Our team has tirelessly worked to innovate and refine every aspect of Matsya, making it a formidable contender in this year's competition. It boasts several cutting-edge features, including a novel soft robotics gripper with flexible TPU claws for an adaptable and secure grip, and an advanced vision system equipped with a GoPro Hero 11 Mini for a wider field of view, brighter feed, and high data transfer rate. This vision system is powered by a mix of YOLOv8 and OpenCV2 for superior object detection. Our enhanced acoustics package in Python employs a TDOA-based algorithm for precise pinger location, ensuring robust underwater navigation. Additionally, we have designed an in-house waterproof connector supporting 1 Gbps data transmission, which enhances reliability and reduces costs by 30 times compared to industrial alternatives. The redesigned electrical stack now features a smaller power board optimized for space and efficiency, integrating power and GPIO functionalities with an ARM-based microcontroller. Transitioning to an Intel NUC for better performance and compact size, coupled with a revamped Python-based software architecture, Matsya 6D offers improved readability and extensive library support. Join us as we dive into the capabilitiesof team AUV IITB and the remarkable strides we've taken this year in the field of underwater robotics!
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