Technical Design Review of Duke Robotics Club's Oogway: An AUV for RoboSub 2024
Will Denton, Michael Bryant, Lilly Chiavetta, Vedarsh Shah, Rico Zhu, Philip Xue, Vincent Chen, Maxwell Lin, Hung Le, Austin Camacho, Raul Galvez, Nathan Yang, Nathanael Ren, Tyler Rose, Mathew Chu, Amir Ergashev, Saagar Arya, Kaelyn Pieter, Ethan Horowitz, Maanav Allampallam, Patrick Zheng, Mia Kaarls, June Wood
TL;DR
Oogway was built on the principle of independent, well-integrated, and reliable subsystems, and its most advanced capabilities are a result of the tight integration between these subsystems.
Abstract
The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include a re-envisioned controls system, an entirely new electrical stack, advanced sonar integration, additional cameras and system monitoring, a new marker dropper, and a watertight capsule mechanism. These additions enabled Oogway to prequalify for Robosub 2024.