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An upgraded version of our sixth generation autonomous submarine, SubjuGator, will compete in the
2008 AUVSI/ONR 11th International Autonomous Underwater Vehicle Competition from
July 29-Aug 3, 2008.
We have updated our SubjuGator 6 for this competiton. With SubjuGator 6a,
we added two external pods, re-designed all the electronics, added to our
sensor package, doubled the processing power, and more then doubled the
battery capacity of the submarine. The
mechanical system of SubjuGator 6a continues our recent tradition of a small,
light weight, submarine, but also gives us the capability of augmenting it
with more sensors and actuators in the future.
SubjuGator is designed to operate underwater at depths up to 100 feet.
Two single-board Intel Core 2 Duo based computer running the Windows
XP operating system provides processing power necessary for
monitoring and controlling all systems. The mission behavior of
SubjuGator is controlled with Microsoft Robotics Studio framework
communicating with a network of intelligent sensors. The sensor
systems include cameras, hydrophones, a Doppler Velocity Log, an Imaging
Sonar,a digital compass, altimeter, and internal environment monitor
sensors.
The submarine also makes use of custom designed motor controllers
with current feedback monitoring and other peripherals necessary for
completing the mission.
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