The Refactoring

This year has primarily been a software year for Team SubjuGator, as our excellent mechanical and electrical systems which were completely redesigned last year have proved to be very reliable and extensible. We began the year with a large scale refactoring that eventually reached every worker process that runs on the sub. Our communications framework, DDS, allowed us to keep the sub operational at all points during the refactoring, because though workers were changing sometimes dramatically on t
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New hydrophone board

We’re proud to announce that our new hydrophone board is nearing completion. The 4 layer board was designed and populated in-house by team members. It features higher sampling rates, better analog design and cleaner filtering. While our current board has been successful for several years, the new design will bring added robustness to our signal processing and acoustic beacon navigation. More testing details to come soon!
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Spring Updates

The team has been busy working to improve the software architecture of SubjuGator 7 throughout the spring semester. We have had several successful tests at the pool. Noteworthy successes include: Automated routines for magnetometer calibration Automated routines for compass calibration A C4 continuous trajectory generator with coordinated Euclidean motion Numerous controller bug fixes and improvements including compensation for directional thruster performance Added abilities to command pitch an
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Fall Publicity

Team SubjuGator recently participated as part of the University of Florida Robotics Fair. The Florida Alligator wrote a nice article about the event which you can read here. Expect pictures from the event to be posted soon! The SubjuGator project was also recently featured in the Department of Mechanical and Aerospace Engineering’s Fall newsletter. The newsletter is also available online to read here. We will have a Fall project update posted soon. Stay tuned.
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Recap of day 3 from the Transdec!

We awoke early in order to get an early practice in before our preliminary round competition run at 9:30am. We left the hotel at 6:15am to reserve a spot on the practice side of the pond at about 8:20am. Our official weigh-in was at 46.5kg (102.5 lbs), well above the weight that we were told on day one, but about what we expected. After a pretty good practice run, we had a disastrous preliminary run! On our first pass the sub went straight through the gate, but at a pace
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Competition day 1 recap from the Transdec

Day one at the Transdec in San Diego was a great success for Team SubjuGator. Our morning started at 6:30am. We quickly packed the pelican cases with the items necessary to run the sub all day. This turned out to be 2 medium pelicans and two small pelicans. Luckily, the sub (on its cart) and the four pelican cases fit perfectly inside our two Suburbans (thanks Dr. Schwartz). We arrived at the Transdec at 7:20am and began to setup our tent. Our new awesome SubjuGator banner stood out among all of
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First day in San Diego

Today was our first day in San Diego. We are staying at the Kona Kai on Shelter Island, as per the usual competition host hotel. It is a great location overlooking the bay and a huge marina. We started off with a nice team breakfast at the Red Sails Inn. This is an annual event that the team participates in every year thanks to Dr. Schwartz. Our sub was supposed to arrive yesterday (Monday) at 10:30am guaranteed next day air by FedEx. The sub ended up missing a flight in memphis so it didn’
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Enroute to San Diego!

SubjuGator 7 has been packed and has now left Gainesville on her way to San Diego, CA.It was tough to see her go, but she’ll be waiting for us on Monday when we get there! [singlepic id=738 w=320 h=240 float=center]
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Last day of testing!

Yesterday marked the last day of in-water testing of SubjuGator 7 before it began its voyage to San Diego. Unfortunately, there happened to be a tropical storm bearing down on us at the same time. Lucky for us the sub is waterproof (laptops are not). We traveled to three different pools throughout the day (different pool hours) to debug as many mission behaviors as we could before it got dark and the heavier storms began to hit. We were able to successfully debug the pipe and buoy missions. The
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Calibrations and tuning

After a few small thruster leakage setbacks, we’ve officially completed all of the calibration and tuning procedures for SubjuGator 7. We’re using a new nonlinear controller this year, which is achieving outstanding transient performance and steady-state tracking errors over last year’s PD. We’re able to successfully move to desired waypoints and orientations using our real-time C3 continuous trajectory generator. Here is a photo of the controller tuning process at the po
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