Title:

Marine and Naval Technological Advancements for Robotic Autonomy (MANTA RAY) Ghost Uncrewed Performance Platform Submersible (GUPPS)

The Ghost Uncrewed Performance Platform Submersible (GUPPS) is a biomimetic robotic fish designed to unobtrusively explore underwater environments. This year’s focus was on developing a buoyancy system inspired by RC submarine technology to enable vertical diving and resurfacing. The design features a NEMA 17 stepper motor driving a lead screw to adjust water volume in a 300 mL internal piston, allowing GUPPS to dive up to 10 feet and return to the surface. The redesigned body incorporates separate enclosures for electronics and buoyancy, along with a grid ballast system to maintain stability in yaw, pitch, and surge. Powered by Li-Po batteries and a Raspberry Pi, GUPPS is operated via the ROS2 framework using a GUI and PID controllers. Future goals include optimizing the buoyancy system, integrating pressure sensors for autonomous depth control, and deploying a fleet of robotic fish capable of coordinated, autonomous missions.

Name

Comment*

Comments are viewable only by submitter

Captcha*