Blog
Recap of day 3 from the Transdec!
Jul 16, 2011
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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
Continue Reading →Competition day 1 recap from the Transdec
Jul 14, 2011
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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
Jul 12, 2011
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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!
Jul 09, 2011
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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]
Continue Reading →Last day of testing!
Jul 09, 2011
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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
Continue Reading →Calibrations and tuning
Jul 07, 2011
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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
Continue Reading →Poolside updates
Jul 04, 2011
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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
Continue Reading →2011 AUVSI Journal Paper
Jun 28, 2011
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Our 2011 AUVSI Robosub competition journal paper has been released today! Feel free to read through our design and development process for the newest generation of SubjuGator AUV! AUVSI Publication 2011
Continue Reading →SubjuGator 7 Preview
Jun 28, 2011
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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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