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Overflow Robotics — Encore

Team: Overflow Robotics
Vehicle: Encore
Competition: MATE ROV — Ranger Class

Technical Documentation

This site contains the complete engineering documentation for Encore, our Ranger-class remotely operated vehicle. The documentation covers the full system architecture, software stack, custom firmware, mechanical design, electrical systems, and operational safety procedures.

Documentation Map

Section Contents
System Architecture 3-Tier distributed split-processing architecture, SID, data flow
Software Topside control unit, companion computer, vision pipeline, pilot tooling
Firmware Cube Orange+ ArduSub modifications, custom motor mixing matrix
Mechanical Frame design, thruster layout, manipulator systems, buoyancy
Electrical Power distribution, tether design, ESC wiring, sensor integration
Safety Pre-dive checklists, lockout procedures, emergency protocols
Future Improvements Planned R&D for subsequent competition seasons

Architecture at a Glance

Encore operates on a 3-Tier Distributed Split-Processing Architecture connected via an Ethernet tether:

  • Tier 1 — Topside (Surface Control Unit): Heavy compute offloading — AI inference, pilot controls, telemetry visualization.
  • Tier 2 — Companion Computer (Jetson Orin Nano): Headless on-vehicle compute — video streaming, depth recording, MAVLink routing.
  • Tier 3 — Firmware (Cube Orange+): Hard real-time 400 Hz PID stabilization, custom 8-thruster omnidirectional motor mixing.

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