Problem
Research questions and friction points this paper is trying to address.
cylindrical watertight enclosures
electronic inefficiency
payload capacity
buoyancy management
CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures
🤖 AI Summary
论文提出CUB和CougarTail系统，通过设计圆形PCB和传感器桅杆优化水下圆柱形密封舱的电子设备布局，提高有效载荷能力和浮力管理。
📝 Abstract
Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sensor platforms. However, electronics are typically built on rectangular PCBs arranged in horizontal stacks, which inefficiently occupy the circular cross-section volume that is critical for both payload capacity and buoyancy management. This paper presents CUB (Central Utility Board) and CougarTail, a general-purpose system designed to address this gap. CUB is a circular PCB sized for 4-inch-diameter enclosures that consolidates a Raspberry Pi Compute Module 5 (CM5) and an STM32 microcontroller, while also providing power management features and auxiliary connections. Mounted coaxially, CUB reduces the electronics stack of our CougUV from 200 mm of tube length and 709 g to 25 mm and 156 g, returning that length and mass budget to payload and buoyancy trim. CougarTail is an open-source companion sensor mast that houses a GPS antenna and two dual-band (2.4 and 5 GHz) omnidirectional PCB antennas. Both components are validated through bench testing and integration on a CougUV platform, our small open-sourced torpedo UUVs.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Circular PCB
Payload Capacity
Buoyancy Management
Open-Source
Cylindrical Enclosures
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