Guppy

Specs

Dimensions
- 27" Long
- 25" Wide
- 15" Tall
Mass
- 34.2 kg (75.2 lbs)
Chassis
- 6061 Custom-Cut Iso-Grid Baseplate
- 1" in. Square Aluminum Skids
Hulls
- Two 16.5" long Cylindrical 1/4" Acrylic Hulls, 8" Inner Diameter
Degrees of Freedom
- 6: X, Y, Z, Roll, Pitch, Yaw
Compute
- LattePanda Sigma
  - Intel Core i5-1340P, 12-Core, 16-Thread
  - 32GB Dual-Channel LPDDR5-6400MHz
  - M.2 NVMe
  - 2 x 2.5GbE RJ45 Ports (Intel i226-V)
  - Ubuntu 24.04.3 LTS
- Custom PCBs
  - RP2350 Microcontroller
  - Dual CAN Controllers
  - CAN Daisychain Passthrough
  - PWM Output
  - Extensible mainboard via GPIO
Propulsion
- 8x Blue Robotics T200
Navigation
- WaterLinked DVL-A50 Standard
- VectorNav VN-100 IMU
- Blue Robotics Bar High-Resolution Depth/Pressure Sensor
Vision
- 3x Point Grey FL3-GE-14S3C-C
- 2x Logitech 1080p USB Webcam
Control
- Thrust Allocation, Drag Adjustment, and Station Keeping
- Box-Constrained Least-Squares Solver, using QP Optimization
- Velocity and Position PID in all Axes
- Mass and Buoyancy Control creates Artificial Neutral Buoyancy
Power
- 5S2P LiPo Battery, 18.5v (nominal)
- Thrusters run at 5S Voltage
- Converted to 12v and 3.3v for Compute and Sensor Subsystems
Software
- ROS2 Jazzy
- Gazebo Harmonic Simulator
- GNCea Custom Thrust Plugin
- Nix Flake for Declarative Dev Environment
- GitHub Actions Automated Build & Test

We keep logs of the goals and outcomes of our pool tests, in order to remain focused on our goals for Guppy's development. Check them out here!