Design and Development of an Autonomous Underwater Vehicle VARUNA 2.0 Aditya Natu, Vipul Garg, Purnyatre Gaur, Dhruv, Piyush Raj, Shivam Sain Department of Mechanical Engineering Delhi Technological University Delhi, India Upasana Biswas, Deepanshu Bansal, Nayanika Biswas, Mihir Ranjan, Megha Goyal, Rahul Gupta Department of Electrical Engineering Delhi Technological University Delhi, India Shaurya Parashar, Raghav Bansal, Chandan Kumar, Raman Kumar, Ajeet Kumar Department of Applied Physics Delhi Technological University Delhi, India Aadhar Tyagi, Aarsh Verdhan Department of Computer Engineering Delhi Technological University Delhi, India Abstract— Autonomous Underwater Vehicles (AUVs) have a wide range of applications in marine geoscience and are increasingly being used in the scientific, military, commercial, and policy sectors. This paper entails the design and development of an Autonomous Underwater Vehicle named VARUNA 2.0, developed by the undergraduates of Delhi Technological University. The rationale behind the design is to implement and improvise the maneuverability, robustness, stability, and hydrodynamics of the AUV to be able to perform discrete tasks. The AUV is modeled in SolidWorks followed by finite element analysis in Ansys to ensure the AUV sustain the environment it is exposed to. An automatic battery monitoring system is implemented for power optimization along with controlled power distribution. The software stack is built upon ROS framework along with convolution neural network with image processing being handled by OpenCV 3. Real-time analysis resulting in error correcting codes (ECC) assists in smooth navigation in dynamic environments. Keywords— AUV, ROS, Image processing, BMS, FEA I. INTRODUCTION An autonomous underwater vehicle (AUV) is an underwater vehicle capable of self-propulsion which can perform various operations in both shallow and deep sea environments, such as oceanographic survey, bathymetry calculation, retrieval and inspection of submerged structures, environmental monitoring, and even complicated missions like gathering necessary data that aids in understanding marine life and several parameters affecting it. VARUNA 2.0 is a technical project undertaken by DTU-AUV, a multidisciplinary student research project team formed by students of Delhi Technological University with the aim to design, enhance and fabricate an Autonomous Underwater Vehicle which will serve as a radical change in design that is hydro-dynamically stable, lightweight, and power-optimized and can be used to perform various tasks. VARUNA 2.0 is the result of effective integration of multidisciplinary systems incorporated in the vehicle. The mechanical model is designed to be stable, both in under and above water conditions. The mechanical structure comprises of the electronic pressure hull, frame, battery canisters, and dropper and torpedo mechanisms. The objective of embedded and the power systems incorporated is majorly to enhance the reliability, modularity and power distribution. The software stack is designed to run in decentralized multithreaded agent architecture, with individual threads administering the pressure sensor, cameras, control system, IMU, mission planner, all executing input and output operations in continuous loops. Dynamic control is accomplished by PID control algorithms. The vision system is designed to perform tasks like buoy, bin, and path and entry gate detection. This paper is divided in 3 major sections based on the constructional systems of an AUV. Section 3 briefly discusses the approach and design of the mechanical structure. Power systems, electronic components and the energy flow is explained in Section 4 while the following section briefs the control structure, image processing algorithms developed on ROS framework. A conclusion has been derived in the last section to evaluate the overall performance of Varuna 2.0. II. LITERATURE REVIEW In literature, hydrodynamics of torpedo-shaped AUVs had been studied. Khairul Alam, Tapabrata Ray, and Sreenatha G. Anavatti [1] worked on optimization algorithms, nondominated sorting genetic algorithm (NSGA-II) and infeasibility driven evolutionary algorithm (IDEA) to develop an optimized framework for AUV. A population-based optimization algorithm was used [2] for design optimization. Multi-objective constraints are derived from mission requirements, and parameters like minimum drag and internal clash-free assembly have been considered while evaluating various preliminary designs. An iterative procedure for optimization of structural design using power flow method (PFM) has been developed [3] while a fault-tolerant system has been designed to monitor the overall AUV [4], to identify the cause and take necessary measures based on the severity of the failure. This approach ensured the continuation of the assigned task either by accommodating the failure or by reconfiguring the control architecture. Selection of material for pressure vessels and common challenges in the development of vehicle were presented by Tadahiro Hyakudome in [5]. A brief study and data analysis of operating depth, speed, communication, and navigation systems of 33 AUVs has been discussed in [6]. Time taken by International Journal of Engineering Research & Technology (IJERT) ISSN: 2278-0181 http://www.ijert.org IJERTV9IS070635 (This work is licensed under a Creative Commons Attribution 4.0 International License.) Published by : www.ijert.org Vol. 9 Issue 07, July-2020 1495