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An upgraded version of our sixth generation autonomous submarine, SubjuGator, will compete in the
2009 AUVSI/ONR 12th International Autonomous Underwater Vehicle Competition from
July 28-Aug 2, 2009.
We have updated our SubjuGator 6a for this competiton. With SubjuGator 6b,
we extended the two external battery pods (increasing the battery capacity by about 25%),
re-designed many of the electronics packages, added an imaging sonar, added two "machine guns,"
and revamped our software system. The mechanical system of SubjuGator 6b
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 200 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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