SubjuGator: Sinkin’ is Easy

摘要

Graduate and undergraduate students at the University of Florida are in thernprocess of modifying and testing an autonomous submarine, SubjuGator, to compete inrnthe 2001 ONR/AUVSI Underwater Vehicle Competition. SubjuGator is designed for operationrndown to 100 feet, and can be quickly configured to optimize for mobility or speed.rnSubjuGator’s body has mounts to support up to ten motors, each of which may be orientedrnin any direction in its plane. SubjuGator is controlled through a single-board 586rncomputer running the Linux operating system, which is interfaced to the motors and sensorsrnthrough two other processors, a DSP and a microcontroller. On-board sensors includerna digital compass, a fluidic inclinometer, inertial measurement unit, and a pressurernsensor. Additionally, mission specific sensors include a hydrophone array for acousticrnping detection and localization, a CdS array for visual strobe detection and localizationrnand a sonar altimeter for height detection. In this paper, we first describe the mechanicalrnmakeup of SubjuGator. Next, we describe the electronic and processing hardware, andrnthe motivation for our electronic design. We then discuss the various on-board sensors,rnboth mission-dependent as well as mission-independent. Finally, we comment on vehiclerncontrol strategies.