• UFRJ Nautilus

AUV’s Internal Segment

Updated: May 12


In this article we are going to address the internal segment matter of our AUV. Besides all of the AUV’s external components, we also got the internal segment of the robot, where the main electronic components are protected and covered by the internal frame, which enables the AUV to perform in the main competition. The internal electronic section is composed by 4 boards: The Actuator board, the Motor board, the Backplane board and finally, the Hydrophone board. Furthermore, the Jetson Astro and the IMU board also take part in the internal section of the robot.

Internal frame

The Actuator board:

The first internal section component is the Actuator board, it connects all of the AUV’s sensors and the Jetson. Therefore, the Actuator board collects the sensors transmitted information and converts it into a code, so that the Jetson Astro decodifies the information and then proceeds with its command.

Actuator board

Motor board:

The Motor board interconnects the AUV’s electrical part with the motors through the esc use.

Motor board

Backplane board:

The next internal component is the Backplane board, which is the main board in the composition, where it has ins and outs for the other existent boards’ slots. Its composition can be as complicated or simple as you want, thanks to its versatility, since it can take a number of different things in its composition.


Hydrophone board:

This electrical component makes underwater hearing possible, through a Pinger. Acoustic underwater signals are captured (noise or sounds) in the form of frequency, those are converted through a software, to the computational analysis and then, finally, human analysis.

Hydrophone board

Jetson Astro:

The Jetson Astro is responsible for the management of the main AUV board. As it collects the data that was captured by the sensors, through an interface, where the mini controller emits the stored signals to the Jetson, enabling its performance.

Jetson Astro


The inertial measurement unit, also known as the IMU, is a sensor designed to analyze the angular rate and orientation of the body, through the accelerometer and gyroscopes. Its aid is through the analysis of the center of mass of the robot and thus making possible to analyze the displacement of the AUV without tipping it. The accelerometer is responsible for the inertial measurement of the inertial acceleration, while the gyroscope is responsible for the rotation rate measurement, considering the three main axes: tilt, yaw and rotation.

Bibliographic adj.





Written by Lucas Gonçalves


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