RoboSub 2022

Thanks for helping out with the next MIL competition, RoboSub 2022! This competition focuses on the abilities of our autonomous submarine, SubjuGator. The competition will be hosted at the University of Maryland, College Park from July 27 - August 2.

Information related to the competition can be found at the following links:

SubjuGator is looking to place well at this competition - and this involves your help! There's a lot of work to be done until the competition in several weeks. Tasks are below. Feel free to assign yourself to open tasks - we'd love your help, and appreciate your willingness to help out MIL's mission. If you have any questions, please contact a leader.

For a quick list of the tasks featured in the current competition, checkout this dropdown:

List of Tasks

- **With Moxy (Coin Flip)** - The starting direction is randomized for bonus points. - **Choose Your Side (Gate)** - Earn bonus points for "90 degree rotations", up to 8 times - Need to clarify what counts as a rotation - Has a path marker pointing to Make The Grade - **Make The Grade (Bouys)** - More points for hitting the correct one. - Has a path marker pointing to **Collecting** - **Collecting (Bins)** - Points for lifting the lids on the bins - Points for correct bin - **Survive The Shootout (Torpedos)** - Pinger Position not specified - More points for shooting the small targets - **Cash Or Smash (Octagon)** - Pinger is placed in the middle of the octagon - Max points requires surfacing with each bottle, and placing on correct platform - https://robonationforum.vbulletin.net/forum/robosub/robosub-2022/3708-bottles-shape-and-dimension

Manufacturing the Task Elements
- Physical Building
- Virtual CADding
SubjuGator Improvements
Computer Vision and Object Recognition
Simulation Environment
Passive Sonar
Active Sonar
Mission Completion

Manufacturing the Task Elements #

An important part of preparing for the competition is testing the submarine, either in a physical or virtual environment. However, this testing requires the competition pieces to be constructed and placed in the testing environment. Thus, we need your help in constructing physical objects and CADing virtual objects! If these tasks sound interesting to you, please feel free to assign yourself to one of these tasks.

Physical Building #

If you would like to help with constructing physical materials (this might be more inclined towards mechanical members), please choose one of the following tasks:

[x] #680
[x] #681
[x] #682
[x] #683
[x] #684
[x] #685
[x] #686
[x] #687

For information on completing these physical tasks, please see the notes below:

PVC pipes are inside or outside in the back of CIMAR (by the trailer).
PVC cutter is in the main lab drawer where all the cutting tools are.
Pictures can be put on a poster and lamination of the pictures and the pictures print outs can be done in target copy right across UF.
Elbows and other connectors for PVC can also be found in main lab or CIMAR.
- If not enough (which should be since last time, we have bought extra) a list can be made and it could be purchased.
Wood planks can be found in main lab or CIMAR.

Virtual CADing #

If you're interested in CADing a virtual component, please feel free to assign yourself to one of the following tasks:

TODO

SubjuGator Improvements #

Various improvements need to be made to SubjuGator. Please consider taking one of these tasks:

[x] #755
[x] #756

Computer Vision and Object Recognition #

You may be interested in helping out with the computer vision and object detection side of things. That's awesome - you're helping to give our robot eyes (in a non-creepy way, of course!). If you are interested in helping, please contact @andrew-aj, who can help to inform you about the state of the sub's vision and which task you would best be suited for.

Current tasks that need completion:

[x] #661
[x] #662
[x] #695
[x] #709
[x] #710
[x] #711
[x] #713

Simulation Environment #

An important part of being able to test our vehicle for the competition includes our ability to quickly simulate its actions and movements!

Current tasks that need completion:

Passive Sonar #

The passive sonar system allows our sub to receive signals from a pinger, which is important for some tasks. In a way, you're giving our sub ears (again, in a non-creepy way...). This can also help our sub to achieve extra points!

Currently, we are investigating the stability of the pingers and how to read data from them. Issues related to this include:

[x] #596

Active Sonar #

The active sonar system on the sub allows the sub to see throughout its environment. It's a powerful tool that can be coupled with a vision system to allow the sub to understand its environment.

Unfortunately, the active sonar system is not going to be used for this upcoming competition. Please try to navigate to another task instead:

[x] #598

Mission Completion #

Maybe you're interested in tasks related to the completion of specific missions! No worries, we've got plenty of tasks that need your help.

Station Keeping and Moving to Position #

The station keeping mission ensures that our submarine can stay in about the same place as it was before. This helps to show the sub's stability.

This mission is completed for now, and no issues need to be completed!

Passing Through the Gate #

The gate mission ensures that the submarine can pass through the first gate in the course. This gate also causes the sub to pick a "team" (either the good guys or the bad guys). It's important that the sub understands which team it has picked so that it can use this information to make decisions in the future.

Bonus points are awarded for being able to start in a randomized orientation at the dock, for which we plan to rely on the sub's compass.

Additional bonus points are awarded if the sub can spin around before moving through the gate. Issues related to this task include:

[x] #678
[x] #679
[x] #661

Following the Path #

Although not an official task or mission, being able to follow a path is critical! It involves components of computer vision and path following.