Research Project
Modular Robot Control System “Vythos”
Project Duration
2026
Role and Contribution
Project Manager and Lead Developer (Full contribution)
Technologies and Skills Applied
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Embedded Hardware Design (OrCAD: Schematic Design, PCB Layout)
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Embedded Software Development (STM32 – C)
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Mechanical Fabrication & Hardware Integration
Introduction
The Vythos (βύθος, Greek for “Seabed”) modular robot control system was developed to simplify the development and extension of underwater robotic platforms. The motivation arose from the renovation of “Cyclops” — a decade-old lab underwater robot — where the need for a flexible, extensible control architecture became apparent.
Rather than designing a monolithic control board, I developed an industrial DIN-rail-based modular system that allows sensors and actuators to be added or replaced independently. Currently, two Vythos modules have been completed, while an isolated serial converter module is under development.
Implementation
Two Vythos modules were developed: a 7-channel USB CDC relay controller and an 8-channel analogue thruster controller. All power and signal lines are fully galvanically isolated for robust operation in electrically noisy environments, improving noise immunity and overall EMC robustness.
Each PCB was designed within the dimensional constraints of the DIN-rail enclosure, and module labels were designed in Adobe Illustrator and applied as custom stickers. Following assembly, the LED and connector openings were hand-milled using a milling machine.
7-Channel USB CDC Relay Controller “Vythos” Module, Handmade Using a Milling Machine (Apr 2026)
Developed PCB for the USB Relay Control Module (Mar 2026)
Design of Module Label Using Adobe Illustrator (Apr 2026)