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November 2020 Newsletter

Posted by Nigel Woodhouse on November 18, 2020

In the past month, our team has made great progress.


Mechanical Team

The Mechanical Team has been working on a cooling system to regulate the hull's internal temperature and reduce problems associated with overheating. No previous robot in the ARVP repository adopted such as subsystem; we are making new strides. The team is getting aid from a MEC 460 capstone design group to formulate a useable design.  
 
Additionally, the mechanical team is assembling the hull. Upon awaiting the manufacturing of aluminum and acrylic parts, the team will add the remaining components to the assembly.

Proposed design for the new Arctos cooling systems, as designed by our companions in the MEC 460 capstone project.


Software Team

The software team has been working on a simulator in Gazebo for running tests without requiring a physical robot or pool; this is an extremely beneficial endeavour, as social-distancing regulations are still in effect. 

With Gazebo, the team has been able to continue developing features. Arctos’ claw is now integrated into the simulator and is fully operable using keyboard controls. 

The team will soon build an inverse kinematic control system to autonomously control the claw in conjunction with sensory data extracted using computer vision.

Testing Arctos in the Gazebo simulator.


Electrical Team

The Electrical team is developing an acoustic modem for underwater communication, which is worth numerous points in the RoboSub competition and creates the opportunity to have multiple robots in the water at once. They are also developing a driver board, which the Software team will use to actuate the newly designed mechanical arm. Finally, the team is revamping the sonar data acquisition and torpedo boards, merging two battery-related boards for spatial efficiency, and writing documentation on all existing and current projects.


“The most difficult thing is the decision to act, the rest is merely tenacity. The fears are paper tigers. You can do anything you decide to do. You can act to change and control your life; and the procedure, the process is its own reward.”
- Amelia Earhart

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