MUREX ROV 2022-2023

Codebase for the MUREX 2023 ROV for the MATE Underwater Robotics Competition.

Table of Contents

• Setup
• Usage
• Design
• License

Setup

To use properly use the Murex codebase the user must have some software installed in addition to the MUREX codebase.

Dev Dependencies

• Python v3.9 (Or Newer)
• NodeJS v18.6.1 (Or Newer)
• FFmpeg v5.1.2 (Or Newer)

Installation

git clone https://github.com/murexrobotics/murex-2023.git
cd murex-2023
python3 -m pip install -r requirements.txt
cd web-interface
npm i
cd ../

Usage

For optimal usage, start topside, then aquatic then web-interface.

Topside

python3 topside

Aquatic

python3 aquatic

Web Interface

cd web-interface
npm run dev

Design

This is a brief overview of how the ROV was designed.

Mechanical

ROV CAD

Programming

Codebase	Role
Aquatic	Handles interfacing with sensors and thrusters. Control of ROV.
Topside	Decodes control input and overall ROV control signals.
Web Interface	Displays telemetry data from ROV for realtime monitoring and emergency control.

Electrical

PCB	Role
Integration PCB	Supply power to all components, sensors and PWM signal generator.
ESC Integration PCB	Connects directly to ESC's and Integration PCB to make connecting ESC's easier. Was not used in final revision

License

Licensed under the MIT License

Copyright (c) 2023 MUREX Robotics