ZARNA 2.0 Specifications

Vehicle Dimensions

• Length : 850mm
• Breadth : 320mm
• Height : 350mm

Vehicle Mass

• 34kg in air

Top Speed

• 1 m/s

Degrees of Freedom

• 6 (Roll, Pitch, Yaw) (X, Y, Z)

Propulsion System

• 8 Bluerobotics Thrusters
• Depth Rating – 150m in fresh water
• Maximum thrust forward @16V is 5.1 kgf
• Maximum thrust reverse @16V is 4.1 kgf
• Rotational speed of 300-3800 rev/min

Navigation, Pressure Sensors

• Sparton AHRS-8 IMU sensor
• UltraStable US300 Submersible Pressure Transducer

Single Board Computer

• NVIDIA Jetson Tx1

Camera Sensors

• BlackFly S USB-3 Cameras
• IDS Camera
• Logitech Web Cam

Software Setup

• ROS Melodic
• Ubuntu 18.04

Power System

• LiPo Battery
• Battery Capacity: 10Ah, 4S
• Config: 4S/14.8V/4
• Cell Constant Discharge: 30C
• Peak Discharge: 10C
• Total Weight: 2496g
• Battery Volume: 150mm x 43mm x 27mm