The 6th generation SubjuGator vehicle has participated in 4 years of operation at the University of Florida from 2008 to 2010. Each of the iterations of the deisgn are presented below.
SubjuGator 6c
| Dry Weight: | 85 lbs | Thrusters: | 4 Seabotix BTD150 |
| Dimensions: | 35″x21″x18″ | 2 VideoRay GTO | |
| Max Depth: | 60 feet | Navigation: | Teledyne Explorer DVL |
| Max Speed: | 1 m/s | MicroStrain IMU | |
| Battery Life: | 4 hours | PNI Compass | |
| Active Year: | 2010 (RoboSub 13) | Cameras: |
2 MV BlueFox |
| Placement: | 13th |
AUVSI Publication 2010 | Photos | Team
An upgraded version of the sixth generation autonomous submarine, SubjuGator 6c, competed in the 2010 AUVSI/ONR 13th International Autonomous Underwater Vehicle Competition from July 13-18, 2010.
With SubjuGator 6c, the entire software architecture has been redesigned due to a shift from Microsoft’s Robotics Studio to the JAUS framework. An IMU has been incorporated allowing for an Unscented Kalman filter to perform sensor fusion tasks between the accelerometers, gyroscopes, magnetometers, pressure sensor, and DVL. The success of the filter has allowed the controller architecture to become a more advanced position based nonlinear RISE controller with an optional neural network for platform dynamics estimation. The motor driver, hydrophone acquisition, and pressure sensor hardware are redesigned and vastly improved. SubjuGator 6c has been updated with two quad core mobile single board computers.
SubjuGator 6 is designed to operate underwater at depths up to 100 feet. Two 3.5″ x 5.75″ Intel Core 2 Quad computers running Microsoft Windows Server 2008 provide processing power for monitoring and controlling all systems. The mission behavior of SubjuGator is being developed with the Joint Architecture for Unmanned Systems (JAUS) framework that communicates with a network of smart sensors and components. The smart sensor and component network provides vehicle and environmental state information by processing and integrating information provided by two cameras, hydrophone array, Doppler velocity log (DVL), inertial measurement unit (IMU), compass, depth sensor, and altimeter. The vehicle also makes use of custom-designed motor controllers with current sensing, four external actuators, and other peripherals necessary for completing the mission.
SubjuGator 6b
| Dry Weight: | 85 lbs | Thrusters: | 4 Seabotix BTD150 |
| Dimensions: | 35″x21″x18″ | 2 VideoRay GTO | |
| Max Depth: | 60 feet | Navigation: | Teledyne Explorer DVL |
| Max Speed: | 1 m/s | MicroStrain IMU | |
| Battery Life: | 4 hours | PNI Compass | |
| Active Year: | 2009 (RoboSub 12) | Cameras: |
2 MV BlueFox |
| Placement: | 20th |
AUVSI Publication 2009 | Photos | Team
An upgraded version of our sixth generation autonomous submarine, SubjuGator, will compete in the 2009 AUVSI/ONR 12th International Autonomous Underwater Vehicle Competition from July 28-Aug 2, 2009.
We have updated our SubjuGator 6a for this competition. With SubjuGator 6b, we extended the two external battery pods (increasing the battery capacity by about 25%), re-designed many of the electronics packages, added an imaging sonar, added two “machine guns,” and revamped our software system. The mechanical system of SubjuGator 6b continues our recent tradition of a small, light-weight submarine, but also gives us the capability of augmenting it with more sensors and actuators in the future.
SubjuGator is designed to operate underwater at depths up to 200 feet. Two single-board Intel Core 2 Duo based computer running the Windows XP operating system provides processing power necessary for monitoring and controlling all systems. The mission behavior of SubjuGator is controlled with Microsoft Robotics Studio framework communicating with a network of intelligent sensors. The sensor systems include cameras, hydrophones, a Doppler Velocity Log, an Imaging Sonar, a digital compass, altimeter, and internal environment monitor sensors. The submarine also makes use of custom designed motor controllers with current feedback monitoring and other peripherals necessary for completing the mission.
SubjuGator 6a
| Dry Weight: | 80 lbs | Thrusters: | 4 Seabotix BTD150 |
| Dimensions: | 35″x21″x18″ | 2 VideoRay GTO | |
| Max Depth: | 100 feet | Navigation: | Teledyne Explorer DVL |
| Max Speed: | 1 m/s | MicroStrain IMU | |
| Battery Life: | 3 hours | PNI Compass | |
| Active Year: | 2008 (RoboSub 11) | Cameras: |
2 MV BlueFox |
| Placement: | 4th |
AUVSI Publication 2008 | Photos | Team
An upgraded version of our sixth generation autonomous submarine, SubjuGator, will compete in the 2008 AUVSI/ONR 11th International Autonomous Underwater Vehicle Competition from July 29-Aug 3, 2008. We have updated our SubjuGator 6 for this competiton. With SubjuGator 6a, we added two external pods, re-designed all the electronics, added to our sensor package, doubled the processing power, and more then doubled the battery capacity of the submarine. The mechanical system of SubjuGator 6a continues our recent tradition of a small, light weight, submarine, but also gives us the capability of augmenting it with more sensors and actuators in the future.
SubjuGator is designed to operate underwater at depths up to 100 feet. Two single-board Intel Core 2 Duo based computer running the Windows XP operating system provides processing power necessary for monitoring and controlling all systems. The mission behavior of SubjuGator is controlled with Microsoft Robotics Studio framework communicating with a network of intelligent sensors. The sensor systems include cameras, hydrophones, a Doppler Velocity Log, an Imaging Sonar,a digital compass, altimeter, and internal environment monitor sensors. The submarine also makes use of custom designed motor controllers with current feedback monitoring and other peripherals necessary for completing the mission.
SubjuGator 6
| Dry Weight: | 65 lbs | Thrusters: | 6 Seabotix BTD150 |
| Dimensions: | 35″x14″x18″ | ||
| Max Depth: | 60 feet | Navigation: | Teledyne Explorer DVL |
| Max Speed: | 0.6 m/s | MicroStrain IMU | |
| Battery Life: | 2 hours | PNI Compass | |
| Active Year: | 2007 (RoboSub 10) | Cameras: |
2 MV BlueFox |
| Placement: | 1st |
AUVSI Publication 2007 | Photos | Team
Our sixth generation autonomous submarine, SubjuGator, will compete in the 2007 AUVSI/ONR 10th International Autonomous Underwater Vehicle Competition from July 11-July 15, 2007. We built an entirely new SubjuGator 6 (both body and electronics) for this competition. With SubjuGator 6, we upgraded to more powerful sensors and a faster computer system; we are using Microsoft’s Robotic Studio for control and simulation. The mechanical system of SubjuGator 6 continues our recent tradition of a small, light weight, submarine, but also gives us the capability of augmenting it with more sensors and actuators in the future.
SubjuGator is designed to operate underwater at depths up to 100 feet. A single-board Intel Core 2 Duo based computer running the Windows XP operating system provides processing power necessary for monitoring and controlling all systems. The mission behavior of SubjuGator is controlled with Microsoft Robotics Studio framework communicating with a network of intelligent sensors. The sensor systems include cameras, hydrophones, a Doppler Velocity Log, a digital compass, altimeter, and internal environment monitor sensors. The submarine also makes use of custom designed motor controllers with current feedback monitoring and other peripherals necessary for completing the mission.