We did implementation testing of our programming buoy today. The buoy will allow us, during testing, to easily modify the AUV's programming with a drag and drop GUI as well as view live video feeds while the vehicle is submerged. We found that the powering of the buoy is ok, although the battery life was shorter then we expected and the wiring of the Ethernet cable through the SEACON connector was mis-wired. We have fixed the wiring but are waiting to charge the existing batteries fully before our next test.

Stable Control Testing

The above video shows pool testing demonstrating stable heading, depth, and pitch control. The photos are a few from the same testing session (More to come)

Pool Testing

More footage from testing last Friday.

Depth and Pitch Test

The team successfully completed a stable depth and pitch test of the AUV. After tweaking the integral and derivative terms in our PID depth controller we were able to eliminate any oscillation and achieve a very acceptable settling time. The depth cell which was used for this test has a slight bias that caused a small amount of depth error but this problem will be rectified shortly when the new cell is installed.

Thruster Testing

Component Integration Tests Complete

All tests of the AUV components including the thrusters, DVL, depth cell, and compass are completed. Each of the ports had to be checked for pin-out order, voltage supplied and communication with the main computer to ensure that the vehicle is ready for water testing.

We are programming a demonstration plan for the AUV to include precision navigation using the compass and depth cell. The demonstration/test is scheduled for Friday and will show that our vehicle is completed and ready for operation. Naturally, we are going to continue to upgrade and perfect the programming and tasking for the vehicle but we will merely be making tweaks and improvements.

The frame is not going to be returned from the paint shop until thursday which means that we need to have the computer and programming ready for installation as soon as the frame is returned.

Looking Back...

After returning from break we weighed the AUV and were pleased when it weighed in at 38.92lbs. This is a significant improvement from last year's vehicle (yellow AUV above) which was 50lbs at the competition.
This was one of the primary objectives throughout the construction process this year and was accomplished through multiple means. Primarily the Doppler Velocity Log, Main Pelican Case housing, and clear Camera Case housing were all substituted for smaller equivalents.

The frame was dropped off today for painting at Fitzgerald Body shop in Rockville, MD which graciously offered to give the extruded plexiglass a high gloss professional paint job. We hope to have it back by next week so we can begin pool testing.

Wiring Is Complete

All major systems of the 2009 AUV nicknamed "Awkward Turtle" have been wired and connected to the computer and vehicle. Before all systems are powered up we are going to conduct a complete system voltage and continuity checks to ensure that all of our systems will not be overloaded or "fried". All of these check will be completed after spring break while everyone takes some much deserved time off and we prepare for the end of the semester.

After Wire Management

Before Wire Management