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Blog

Competition updates and live webcast information.

Jul 21, 2012
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We’ve been tweeting throughout the week on our twitter account: @subjugatoruf. For the most up to date information about our progress and results, that is the place to look. There will be a live web broadcast of finals on Sunday from 1-4pm PDT via Robosub.org.
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Packed and Shipped

Jul 12, 2012
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After a great last week of testing, we’ve been busy getting things ready for the trip to San Diego. First up for SubjuGator 7: a nice bath with Patrick. Well actually, the only shower at the pool was in the locker room, so we had to do what we had to do. Chlorine and anodization don’t get along! Next, we organized our equipment into categories based on utility and daily use. Pre-packing included sorting boxes which stay at the hotel, travel to the Transdec but stay in the car, and ar
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Mission Testing

Jul 08, 2012
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Since the leak and thruster failures last week, the team has gotten SubjuGator 7 back up and running. The team has been busy developing and debugging missions for the RoboSub competition. The videos below showcase our current progress on several fronts. Our vision system has been working very well, even in varying outdoor lighting conditions (fitting for the San Diego coast). Hopefully all of our outdoor testing will be advantageous come competition time. The first video demonstrates template id
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Leaks and failures

Jul 03, 2012
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The end of June has been rough for SubjuGator 7. Our new pneumatic actuator box managed to form a small leak through our potting material (resulting in ~1cm of water in the box, but no catastrophic electrical failures) and we have now had two Seabotix thrusters completely seize this year (with <12 months use, not surprising given past track records with this brand). Pending replacement cables and potting for the pneumatic housing and the arrival of one additional new thruster, we expect to be
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Raining Cats and Submarines

Jun 24, 2012
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We had an unexpected visitor stop by today. Her name is Debby. Tropical Storm Debby, that is. However, she didn’t stop us from testing at the pool. 30 mph winds, drenching rain (the sub didn’t mind), and a few waterlogged engineers can’t stop our motivation. We’re excited to have successfully completed all of our goals for the day, despite the wet inconvenience. As of the time of this post, it has been raining for 14 straight hours. Go Gators!
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Trajectory Generation

Jun 22, 2012
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Probably the most visible software change to the sub is our new trajectory generator. It uses a non-linear filter to produce trajectories that are 3rd-order continuous, which our non-linear RISE controller then tracks to produce a smooth moving vehicle. This how our vehicle operated last year with our old trajectory generator, but the new generator brings some new capabilities. Here’s the trajectory it produces for our sub when told to move forward 2 meters, then drive backwards to the ori
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The Refactoring

Jun 20, 2012
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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

Jun 07, 2012
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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

May 07, 2012
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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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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
7
Hours
40
Mins
19
Secs

Machine Intelligence Laboratory | University of Florida
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