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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
Continue Reading →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
Continue Reading →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.
Continue Reading →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.
Continue Reading →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!
Continue Reading →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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Visit us in the Machine Intelligence Lab (MIL), which is located in MAE-C 126. Check out the 2016 RoboSub Final Missions and Tasks. If you are interested in software, see our GitHub.
About Us
SubjuGator is an autonomous underwater vehicle project designed and built by students of the Machine Intelligence Laboratory (MIL) at the University of Florida. The University of Florida has participated in the RoboSub underwater vehicle competitions started in 1998, placing in the top 3 seven times, including first place in 2005, 2006, and in 2007. The SubjuGator team is comprised of graduate and undergraduate students of the Department of Electrical and Computer Engineering, the Department of Mechanical and Aerospace Engineering, and the Department of Computer and Information Science and Engineering.
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