HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection
Anika Tabassum Orchi, Md Farhan Zaman, Md Darain Khan, Md Alamgir, Mahbubul Islam, Md. Jobayer Rahman, A. M. Zayed Abdullah, Md Mehrab Hossain Khan, Md. Kutub Al Baki, Iftekharul Islam, Shakil Ahmed, Md Sadique Hossain, Md Muzahidul Islam, Shah Mohammad Seaman

TL;DR
HyDRA Scorpion is a low-cost, modular underwater robot integrating AI perception and manipulation capabilities, validated through extensive pressure testing, stable station-keeping, and real-time object detection.
Contribution
The paper introduces a cost-effective, modular ROV with integrated AI and manipulation, addressing high costs and lack of intelligence in existing systems.
Findings
Leak-free operation at 4 bar pressure testing
Achieved 0.89 mAP in real-time underwater object detection
Demonstrated stable station-keeping within .15 meters
Abstract
A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically capable platforms and those with integrated intelligence create a significant barrier to access. HyDRA Scorpion differs from conventional systems by addressing these challenges, integrating an advanced, AI-driven perception stack with in-situ measurement capabilities onto a low-cost, locally manufacturable platform. The system combines 4-DoF maneuverability, dual manipulators, and a custom pressure-tested housing. Experimental results validate the system's robustness and performance. Leak-free operation was confirmed through prolonged pressure testing of the electronics housing to 4 bar, equivalent to the pressure of a 304.8-meter water depth approximately…
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