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| Main Authors: | , , , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.09093 |
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| _version_ | 1866915997885136896 |
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| author | Orchi, Anika Tabassum Zaman, Md Farhan Khan, Md Darain Alamgir, Md Islam, Mahbubul Rahman, Md. Jobayer Abdullah, A. M. Zayed Khan, Md Mehrab Hossain Baki, Md. Kutub Al Islam, Iftekharul Ahmed, Shakil Hossain, Md Sadique Islam, Md Muzahidul Seaman, Shah Mohammad Piyal, Nusrat Jahan Rahman, Shekh Md. Saifur Hafiz, Fahim Islam, A. K. M. Muzahidul Khan, M. Rezwan |
| author_facet | Orchi, Anika Tabassum Zaman, Md Farhan Khan, Md Darain Alamgir, Md Islam, Mahbubul Rahman, Md. Jobayer Abdullah, A. M. Zayed Khan, Md Mehrab Hossain Baki, Md. Kutub Al Islam, Iftekharul Ahmed, Shakil Hossain, Md Sadique Islam, Md Muzahidul Seaman, Shah Mohammad Piyal, Nusrat Jahan Rahman, Shekh Md. Saifur Hafiz, Fahim Islam, A. K. M. Muzahidul Khan, M. Rezwan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_09093 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection Orchi, Anika Tabassum Zaman, Md Farhan Khan, Md Darain Alamgir, Md Islam, Mahbubul Rahman, Md. Jobayer Abdullah, A. M. Zayed Khan, Md Mehrab Hossain Baki, Md. Kutub Al Islam, Iftekharul Ahmed, Shakil Hossain, Md Sadique Islam, Md Muzahidul Seaman, Shah Mohammad Piyal, Nusrat Jahan Rahman, Shekh Md. Saifur Hafiz, Fahim Islam, A. K. M. Muzahidul Khan, M. Rezwan Robotics Systems and Control 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. |
| title | HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.09093 |