Meet JIT

JIT is Team Minion's Uncrewed Underwater Vehicle (UUV) for the 2026 RobotX Maritime Challenge. The vehicle is based on a Blue Robotics BlueROV2 Heavy and has been modified to support autonomous operation, wireless communication, underwater sensing, data collection, and competition safety requirements. The design uses commercially available off-the-shelf (COTS) components while incorporating custom hardware and systems developed by Team Minion.

JIT is designed for bi-modal operation, allowing the vehicle to operate both on the surface and fully submerged. During surface operation, JIT communicates with Junior and uses GNSS for localization. During submerged operation, the vehicle relies on its Water Linked A50 DVL and onboard sensing systems for localization and environmental awareness. Its untethered configuration allows JIT to transition between surface and submerged operation without a physical connection to the surface platform.

Frame Design

JIT is built on a Blue Robotics BlueROV2 Heavy frame modified to accommodate additional sensing, communication, and autonomous systems. The vehicle uses 3D-printed PETG components and custom mounts to integrate its enlarged electronics enclosure, communication periscope, and other hardware.

The vehicle uses an inverted configuration that positions the larger electronics enclosure higher on the frame and lowers the Z-axis thrusters. This configuration improves stability and reduces the potential for thruster cavitation during surface operation. Four 316L stainless steel tow points are also integrated into the frame and painted orange for improved underwater visibility.

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Electrical Infrastructure

JIT's electrical infrastructure supports its propulsion, computing, communications, and sensing systems. The vehicle uses a Blue Robotics Navigator flight controller, two Raspberry Pi 4B computers, and a Blue Robotics Ethernet switch to connect onboard systems and sensors.

The electrical system uses modular, commercially available components to simplify integration, maintenance, and future modifications.

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Sensors & Periscope

JIT uses multiple sensing systems to support localization, environmental awareness, navigation, and data collection. Its sensor suite includes a Water Linked A50 DVL, Cerulean Omniscan 450 FS imaging sonar, Ping 360 scanning imaging sonar, and a Blue Robotics Low Light HD USB camera.

A communication periscope houses JIT's surface communication and localization equipment. The periscope keeps the vehicle's communication and GNSS antennas above the water during surface operation, allowing JIT to communicate with Junior and the ground station without requiring a tether.

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Power & Propulsion

JIT uses eight Blue Robotics T200 thrusters controlled by eight Blue Robotics Basic ESCs to support maneuvering during both surface and submerged operation.

The vehicle also incorporates a fail-safe emergency-stop system that removes power from the motors when a critical system or health indicator becomes unsafe. The system is designed to place the vehicle in a safe state if power, communication, or command signals are lost.

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Timeline & Testing

JIT's development focuses on progressively integrating autonomous operation, sensing, communications, data collection, and safety systems into the BlueROV2 Heavy platform. Testing progresses from individual components and subsystems to integrated surface and submerged operation.

Testing evaluates the vehicle's electrical and propulsion systems, communications, sensing, waterproofing, localization, stability, and fail-safe systems. Test objectives, procedures, results, and resulting design changes are documented as JIT progresses toward RobotX 2026.

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