Tubbot is our first semester deliverable. This boat-like robot will serve as a platform to test a number of systems that will later be implemented on an underwater robot.
These features are demonstrated in the following video.
Tubbot is a rather simple robot consisting of several critical components:
Communication with Tubbot is accomplished using a wireless router. In our case, we are using an Asus 520gu router that has been loaded with a version of linux. The router converts commands from the computer into commands the arduino can understand.
A modified bilge pump with a propeller attached, these thrusters provide 1.5 lbs of force, propelling tubbot to speeds greater than 1mph.
Motor controllers allow microcontrollers like the arduino to command powerful motors, like the thrusters. This particular motor controller has the ability to control a motor that draws 10 amps, making it well suited to handle our 6 amp thrusters.
This camera takes images and sends them over a network connection. When connected to the wireless router, it allows us to beam video from tubbot directly to our computer for processing.
Inertial Measurement Sensor:
This sensor features a 3 axis magnetometer, gyroscope, and accelerometer. Using these sensors, it can estimate the position and movement of the robot.
Note that all imagery is taken from the internet.