RoboSub Sprint Timeline

June 2021

Mechanics:

  • Marker Dropper

  • Mechanism cover.

  • Final prototype CAD.

  • Relocation of the mechanism.

Perception:

  • Detection with point cloud

  • Node created to detect position and dimensions of gate and buoys.

  • YOLO neural network

  • Neural network trained.

  • ROS node created for real time object detection.

  • Path marker guidance

  • Path marker node created.

  • Path marker detected and orientation calculated.

  • Waypoints feature added based on the orientation of the marker.

Software:

  • Perception inputs were integrated into the Gate and Buoys challenges solutions.

  • Gate and Buoys proposals completed.

Research:

Robust control

  • Silding Mode Controller and Adaptive Sliding Mode Controllers designed and tested against perturbations.

  • Issues detected in tuning. Further development is required.

Guidance Law:

  • ASMC controller designed.

  • Trajectory tracking feature was discarded to try to add the new guidance to the system, but was not included in the end for time constraints.

May 2021

Mechanics:

  • Marker dropper design finished.

Software:

  • Gate, Buoy, Bin and Torpedos codes were improved.

Electronics:

  • Diagram and plotting of routes in complete pcb.

Embedded systems:

  • RTOS tasks completed for all sensors of the submarine.

Perception:

  • Detection with point cloud

  • Real time segmentation achieved.

  • YOLO neural network

  • Data augmentation applied to the dataset.

  • Labeling performed.

Research:

  • Robust control.

  • Silding Mode Controller design started.

Guidance Law:

  • PID controller designed.

  • References created by the use of a quintic interpolation from waypoints.

  • Does not work well with perturbations.




APRIL 2021

Mechanics-MARKER DROPPERS:

  • Definition of the mechanism to be used:

  • Crank-Crank Mechanism.

  • CAD of the prototype.

  • Correct sizing (competition specifications).

State estimation:

  • Development stopped for personal matters.

Simulation:

  • The layout of the competition challenges was ordered.

Electronics:

  • Most PCB schematic completed.

  • Component documentation and justification for their choice.

Embedded systems:

  • STM32 is going to be changed.

  • Check for PCB.

  • Advances in the FreeRTOS code (Engines, Depth sensor, sensor leak).

Perception:

  • Detection with point cloud

  • Point cloud clustering.

  • YOLO neural network

  • It was defined that the dataset was going to be created from images from the simulator.

  • Dataset created.

Research:

  • Robust control

  • PD, PID, PD compensated by gravity and Computed Torque controllers designed.

  • Guidance law

  • Guidance law strategy chosen based on trajectory tracking.

  • PD controller designed to generate desired velocities.

MARCH 2021

ROBOSUB 2021 COMPETITION GOES ONLINE!!!

Mechanics:

  • Sub 2021 general redesign.

  • CAD analysis tools were used to validate the new design

  • Installation of Domes and Floating Material.

Location:

  • Adjust package depth calculations.

Software:

  • Gate, buoys and bins challenges proposals were completed. Implementation with perception is required.

  • Challenge props implemented in simulation in gazebo simulator.

  • Two cameras implemented in the robot, one facing the seabed and the other on the front, only the front camera has a point cloud.

Electronics:

  • It was decided that the same PCBs would be used on the ship and submarine.

  • Component decision.

  • Design of the source, motor connections and microcontroller in the schematic.

  • Component bases.

Embedded systems:

  • RTOS depth sensor finished.

  • STM32 bought.

Perception:

  • Detection with point cloud

  • Point Cloud Library set up.

  • Point cloud simulation and distance obtained with depth map.

  • YOLO neural network

  • Props material bought for dataset.

  • New props included in simulation.

Research:

  • Robust control

  • UUV dynamic model finished.

  • Guidance law

  • Research on methods.

February 2021

  • General objectives defined.

  • Summary of previous efforts.

JaNUARY 2021

Mechanics:

  • UUV redesign proposals to address detected flaws.

November 2020

Mechanics:

  • Final gripper and launcher proposals developed

  • Peripherals integration into the design

  • Stability, modularity and manufacturability flaws detected in the UUV design

Simulation

  • Intel Gazebo plugin added to the vtecu3 model.

Aiming System

  • ML model retraining

  • Classical computer vision node included

  • Shooting routine tested in Gazebo

State estimation:

Arm Manipulation_

  • Controller design finished

Electronics:

  • Updated PCB 1 STM ESC Controller

  • Updated PCB 2 Power Control (relays, stepdown)

Guidance Law:

  • Research on methods

FreeRTOS:

  • Task definition based on electronics bill of materials

  • Implementation of thrusters

  • Base skeleton of the submarine's engines (based on the Ship)

OCTOBER 2020

Mechanics:

  • New arm mount.

  • New torpedo and shooter design.

State estimation:

  • Monte Carlo and localization using Extended Kalman Filters proposals analized

  • Project pipeline started.

Aiming System:

  • New artificial dataset.

Guidance Law:

  • Research on methods.

Simulation:

  • UUV model launched in simulation.

  • Cameras added for vision.

  • Some other sensors were added.

  • Models added for the shooter and torpedoes.

  • Bins and shooter boards added to simulation.

Arm manipulation:

  • Arm kinematic analysis finished.

  • Tuning of controller parameters.

Electronics:

  • Complete registry of components so far, with relevant attributes.

  • Component verification.


Embedded systems:

  • Arduino to STM32 code translation completed.

  • Creation of a new repository for current code.

  • Feature/Pulse IN.

  • Code Standard defined for Embedded Systems.

SEPTEMBER 2020

Mechanics:

  • First robotic arm redesign proposal.

  • Control design started.

State estimation:

  • Research on methods to perform state estimation.

Simulador:

  • UUV simulator chosen

Electronics:

  • VTEC PCB Second iteration

  • STM Integration: 3 - 3.5V Conversors

AUGUST 2020

  • General objectives defined.

  • Summary of previous efforts.