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OpenROV is an open source remotely-operated submersible built on a BeagleBone, with software available via GitHub. This video from the MAKE Hardware Innovation Workshop 2012 gives some background:



Currently, as part of the 2013 Nasa International App Challenge, developers around the world are working to use Leap Motion to control the OpenROV for a mission to Jupiter's moon Europa:


If you'd like to learn more, tinker with OpenROV, or get involved...

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