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Blog

SubjuGator 2013 Preview

Jun 30, 2013
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Check out our introduction video for the 16th AUVSI/ONR Robosub competition.
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New tether

Jun 20, 2013
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Today we received a 1000′ gel filled, shielded Ethernet cable.  After measuring out 250′ and crimping both sides we now have a new tether!  Our last tether was starting to fail and was increasing our packet loss percentage.
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Pool Testing June 8, 2013

Jun 08, 2013
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Today we spent most of our time refining our vision algorithms.  SubjuGator can consistently find pipes on the pool floor.  The sub was also able to recognize the “pizza box”.  Next step, install the pneumatic claw!
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Pool Testing June 1, 2013

Jun 05, 2013
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Today we worked on our controller and particle filter again.  We used buoys to test our vision system. The video below shows the sub looking for a buoy shaped object that is also red.  When the sub locates and bumps the buoy, it surfaces and proceeds toward its next objective: a shooting target from last year’s competition.
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Pool testing April 27, 2013

Apr 29, 2013
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Saturday testing went well. We continued to improve on the particle filter by attempting several of last year’s challenges. Our attempts of the buoy bumping and pipe to shooter were consistently successful.
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Particle-filter based vision

Apr 12, 2013
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This year, we’re trying to approach vision a different way. In the past, we’ve done image segmentation by using various thresholding algorithms and then classified the resulting contours based on size and shape. Our experimental software instead makes numerous guesses of the pose of the object being searched for, and then ranks them by how likely they are to be true, given the images received from the camera (Particle Filtering). The output quickly converges to the true 3D pose of th
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View of submarine and pool in RViz

Move to ROS

Mar 30, 2013
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Over the last few months, we’ve been working on moving to ROS (Robot Operating System), an open-source framework for developing software for robots. It includes a message-passing layer that has replaced DDS (Data Distribution System) for us, utilities for managing all the software that the submarine runs, and numerous tools that let us work much more efficiently. In mid-February, the code was mature enough to let us hold position. Since then, we’re been capturing video and sonar data
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Middle School Outreach

Mar 08, 2013
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While in Panama City conducting testing in the Gulf of Mexico, Team SubjuGator visited two middle schools in the area. We met with the school’s STEM focused classes including one class that was working on their own underwater platform, a SeaPerch ROV. The visit was focused on robotics at the University of Florida and included a live demonstration of SubjuGator 7 in a very small pool.
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Testing in the Gulf of Mexico

Mar 08, 2013
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In support of writing a journal paper with the Nonlinear Controls and Robotics (NCR) group, we conducted controller tests in the Gulf of Mexico off the coast of Panama City, FL. This sea trial tested the robustness of the RISE controller which is implemented on SubjuGator 7. The RISE controller is a cutting edge robust nonlinear controller developed by the NCR group. The testing in the Gulf of Mexico was successful proving that the RISE controller and SubjuGator 7 were able to operate in an open
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Categories

  • Competition News (10)
  • Sponsorship News (3)
  • Team News (61)

Tag Cloud

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About Us

The Machine Intelligence Laboratory (MIL) provides a synergistic environment dedicated to the study and development of intelligent, autonomous robots. The faculty and students associated with the laboratory conduct research in the theory and realization of machine intelligence covering topics such as machine learning, real-time computer vision, statistical modeling, robot kinematics, autonomous vehicles, teleoperation and human interfaces, robot and nonlinear control, computational intelligence, neural networks, and general robotics. Applications of MIL research include autonomous underwater vehicles (AUVs), autonomous water surface vehicles (ASVs), autonomous land vehicles, autonomous air vehicles (AAVs including quadcopters and micro air vehicles, MAVs) , swarm robots, humanoid robots, and autonomous household robots.

MIL’s SubjuGator is the three time champion autonomous submarine of the RoboSub AUVSI/ONR underwater competition (2005-2007), and placed in the top 3 in eleven of the 21 years of the competition (including second place in 2012, 2013 and 2014). MIL’s NaviGator AMS, is the defending champion in the Maritime RobotX Challenge (from our victory in our only entry in this biennial competition in 2016). In 2013, MIL participated for the first time in the RoboBoat AUVSI/ONR water surface vechicle competition with our PropaGator robot boat; we won! In 2014, we earned second place in the RoboBoat competition. We also won the static division of the 2011 ION Robot Lawnmower competition with MIL’s InstiGator robot lawnmower.

Calendar

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RoboSub 2022 begins in:

4
Days
9
Hours
2
Mins
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Secs

Machine Intelligence Laboratory | University of Florida
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