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Blog

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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Now navigation next!

Jun 19, 2011
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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

Jun 12, 2011
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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

Jun 09, 2011
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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!

May 25, 2011
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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

May 22, 2011
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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

May 13, 2011
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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

May 04, 2011
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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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New SubjuGator website is live!

May 02, 2011
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The long awaited SubjuGator.org redesign is now live! A lot of the content from the previous site is still being transfered over, so bear with us. We’re going to work hard to publish new content more frequently about the project via our blog, twitter, and youtube. Hope you stay connected and enjoy!
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Categories

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  • Team News (61)

Tag Cloud

anodized assembly auvsi battery pods buoy calibration cnc competition computer controller dvl ethernet fischer grabber gumstix hydrophone imu JDSquared kona kai manufacturing merge board motor drivers navigation navigation computer new paper pcb pipe pool power rain robosub shipping shooter testing thruster thrusters trajectory generator travel trays tuning Twitter videoray website wiring

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.

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Machine Intelligence Laboratory | University of Florida
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