发表机构
Brigham Young University（杨百翰大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出CUB圆形PCB和CougarTail传感器桅杆，解决圆柱形水下密封舱内矩形堆叠低效问题，显著减小电子堆栈尺寸与重量，并通过台架测试和CougUV集成验证。
AI 中文摘要
圆柱形水密密封舱被广泛应用于各种水下系统，从无人水下航行器（UUV）到遥控潜水器（ROV），再到各种传感器平台。然而，电子设备通常构建在水平堆叠的矩形PCB上，这低效地占用了圆形横截面体积，而该体积对于有效载荷能力和浮力管理至关重要。本文提出了CUB（中央效用板）和CougarTail，一个旨在解决这一差距的通用系统。CUB是一块适用于4英寸直径密封舱的圆形PCB，集成了树莓派计算模块5（CM5）和STM32微控制器，同时提供电源管理功能和辅助连接。同轴安装的CUB将我们CougUV的电子堆栈从200毫米管长和709克减少到25毫米和156克，将该长度和质量预算返还给有效载荷和浮力配平。CougarTail是一个开源配套传感器桅杆，容纳一个GPS天线和两个双频段（2.4和5 GHz）全向PCB天线。两个组件均通过台架测试和在我们CougUV平台（我们的小型开源鱼雷形UUV）上的集成得到验证。
英文摘要
Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sensor platforms. However, electronics are typically built on rectangular PCBs arranged in horizontal stacks, which inefficiently occupy the circular cross-section volume that is critical for both payload capacity and buoyancy management. This paper presents CUB (Central Utility Board) and CougarTail, a general-purpose system designed to address this gap. CUB is a circular PCB sized for 4-inch-diameter enclosures that consolidates a Raspberry Pi Compute Module 5 (CM5) and an STM32 microcontroller, while also providing power management features and auxiliary connections. Mounted coaxially, CUB reduces the electronics stack of our CougUV from 200 mm of tube length and 709 g to 25 mm and 156 g, returning that length and mass budget to payload and buoyancy trim. CougarTail is an open-source companion sensor mast that houses a GPS antenna and two dual-band (2.4 and 5 GHz) omnidirectional PCB antennas. Both components are validated through bench testing and integration on a CougUV platform, our small open-sourced torpedo UUVs.
Comments5 pages, 5 figures
