HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection

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 in a simulated environment, with no moisture ingress detected. The vehicle also demonstrated stable station-keeping, maintaining its position within a tight tolerance of $\(\pm\)0.15$ meters under external disturbances. The onboard AI module achieved underwater object detection mean Average Precision (mAP) of 0.89 with real-time inference, length and 3D-mapping based distance measurement. Also, 4-DoF manipulator arm can grip and maintain dual-function manipulator feature which support 360 degree tangle-free rotation.