Check out the HD version: ARISE Pool Test
Thursday, July 9, 2009
HOOGE update
Hey all,
Sorry for the complete lack of updates. So for this update, I've got three photo galleries. The videos have already been posted so just scroll down to the posts just before mine.
I didn't take many photos, but this gallery contains all the ones that I took in June. Nothing much happened, just steady work on the submarine.
Now in July, this is where things started to get interesting. We finally had a pool test. The previous times the sub was in the water, it was a simple leak test. This time, the sub was turned on.
So what did we learn? We learnt that the PID was calibrating successfully allowing the sub to turn properly and not overshoot. From what I hear, this was a big problem last year.
Sorry for the complete lack of updates. So for this update, I've got three photo galleries. The videos have already been posted so just scroll down to the posts just before mine.
I didn't take many photos, but this gallery contains all the ones that I took in June. Nothing much happened, just steady work on the submarine.
Now in July, this is where things started to get interesting. We finally had a pool test. The previous times the sub was in the water, it was a simple leak test. This time, the sub was turned on.
So what did we learn? We learnt that the PID was calibrating successfully allowing the sub to turn properly and not overshoot. From what I hear, this was a big problem last year.
Saturday, July 4, 2009
July 3, 2009 - Successfull AUV Control Systems Pool Test
Last night we finally tested our control systems and low and behold they worked! I'll let the video do the talking, but we're all pretty exited over at the labs to have the AUV back in the water and doing what it does!
ARISE AUV pool test #1, July 2009 from Willie Ling on Vimeo.
Friday, June 12, 2009
Thursday, March 5, 2009
Upcomming Pooltest
Ok, so long time no post, but I come bearing good news; We're having a pool test!
We've got the Pool Test tentatively planned for Saturday the 14th. The plan is that we are going to throw the AUV in a pool (anyone got a spare??), run a check on the thruster repairs and then get to the real fun of refining our control algorithms.
Our Control Software:
PD controller running on a SunSPOT MCU connected to software linearized ESC controllers controlling brushless thrusters.
Feedback signals are provided by our microstrain Inertial Measurement Unit (IMU)
for those of you who didn't understand a word of that check out wikipedia and wikibooks - they've got some really well layed out explanations there.
We've got the Pool Test tentatively planned for Saturday the 14th. The plan is that we are going to throw the AUV in a pool (anyone got a spare??), run a check on the thruster repairs and then get to the real fun of refining our control algorithms.
Our Control Software:
PD controller running on a SunSPOT MCU connected to software linearized ESC controllers controlling brushless thrusters.
Feedback signals are provided by our microstrain Inertial Measurement Unit (IMU)
for those of you who didn't understand a word of that check out wikipedia and wikibooks - they've got some really well layed out explanations there.
Tuesday, March 3, 2009
Leaktest 2009
These are the videos I took of me leak testing the computer and battery tube. FAIL!!!!
Computer tube:
2 clamps per side
Result: Mixed. I did not witness any air/water leaks while it was at the bottom. It was down there for a good 20-30 minutes. However, I could not get it up. Someone was kind enough to go down and bring the tube up. Once the tube came up, one of the clamps was off and the tube was half flooded.
Battery Tube:
No clamps, 1 O-ring per side
Result: Failure. I had it down for <1 minute before I had to bring it up again. One of the side had collapsed and the tube was flooded.
Computer tube:
2 clamps per side
Result: Mixed. I did not witness any air/water leaks while it was at the bottom. It was down there for a good 20-30 minutes. However, I could not get it up. Someone was kind enough to go down and bring the tube up. Once the tube came up, one of the clamps was off and the tube was half flooded.
Battery Tube:
No clamps, 1 O-ring per side
Result: Failure. I had it down for <1 minute before I had to bring it up again. One of the side had collapsed and the tube was flooded.
Subscribe to:
Comments (Atom)
Posts
