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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Poolside updates

We’ve been spending as many hours at the pool as possible this weekend. The full assembled vehicle got its feet wet for the first time this past week. Since then, we’ve had a lot of success and only a few small bugs to work out. The Kalman filter is converging and the thruster mapper and primitive driver components are working as expected. Tomorrow’s goal is to integrate the LPOSVSS with the local waypoint driver, trajectory generator, and controller. Assuming all goes well, we
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SubjuGator 7 Preview

We posted a new video (Preview of SubjuGator 7) of the frame assembled with the completed thrusters in our media section of the website!The internal trays have been finalized and are completely wired and passed our table-top testing. We have been finalizing the software port (from C# to C++) and will be ready for state estimation and control validation at the pool tomorrow. If all goes well at the pool tomorrow, we’ll be able to track trajectories, given waypoints, by Thursday. All mechani
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Now navigation next!

A few updates for last week: The new motor drivers have been successfully stress tested and integrated into the rear tray. Our primitive driver is completed and communicating through our hardware application layer to control the drivers. The merge board, which accepts connections from our two battery pods and separates the supply voltage into our tewo rails (16V and 32V) and can handle hot swapping pods and or a shore power connection, is completed and programmed. The board offers over-current p
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Navigation box assembly and integration

After finalizing and testing all of the motor drivers and thrusters, we’ve begun work on assembling the navigation box and its components. The navigation box includes the DVL, the IMU (mounted directly onto the auto pilot board), and the depth sensor. The first hurtle to tackle was realizing that we didn’t have all of the Fischer connectors which connect the DVL transducer head to its electronics box. We needed four right angle connectors (there are two cables), but we only had two.
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Thruster Calibrations

The team has been busy debugging the new motor drivers and we recently began calibrating each of our new thrusters. The motor drivers are running great, and survived our stress tests flawlessly. And better yet, we’re doing all of our communication over ethernet. Here’s a photo of our calibration rig during one of the data logging runs for a SeaBotix thruster. Here is a photo of the calibration rig calibrating a VideoRay thruster.
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Parts have arrived!

The first set of anodized parts arrived on Tuesday this week. We’ll be busy cleaning and assembling the electrical trays this week until the main Hull parts arrive on Friday. 50 days to go!
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Frame Assembly

The first assembly of the frame with the computer pressure vessel and the navigation pressure vessel was completed this weekend. Everything went together smoothly and the hinges are performing exactly as designed. We’re very excited to have all of the manufacturing finished. The remaining parts will be anodized and delivered next week for final assembly, electronics insertion and wiring! Additional assembly photos are posted here: 2011 Manufacturing. [singlepic id=716 w=320 h=240 float=cen
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Manufacturing Photos

We have added several more photos of the manufacturing of SubjuGator 7 at JDSquared. All of the CNC work was done by students on the team over the course of 2 months. Take a look! [singlepic id=710 w=320 h=240 float=center]
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Thruster modifications

The custom VideoRay thruster cap was finished today. The standard configuration VideoRay thruster mounting bracket relies on the thruster to be mounted directly to the side of a pressure vessel, allowing for the power cables to pass into the pressure vessel. Because our mounting location for the thruster was not against a pressure vessel, and the length of the plastic endcap was unnecessary, we decided to create a custom end cap which would facilitate the cables to pass through the sealed cap. P
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