Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023

Will Denton, Lilly Chiavetta, Michael Bryant, Vedarsh Shah, Rico Zhu, Ricky Weerts, Phillip Xue, Vincent Chen, Hung Le, Maxwell Lin, Austin Camacho, Drew Council, Ethan Horowitz, Jackie Ong, Morgan Chu, Alex Pool

TL;DR

The Duke Robotics Club is proud to present its robot for the 2023 RoboSub Competition: Oogway, one of the largest design overhauls in club history and featuring all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras.

Abstract

The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. 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 sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.

Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023

TL;DR

The Duke Robotics Club is proud to present its robot for the 2023 RoboSub Competition: Oogway, one of the largest design overhauls in club history and featuring all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras.

Abstract

The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. 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 sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.

Paper Structure

This paper contains 32 sections, 8 figures, 1 table.

Table of Contents

  1. Competition Goals
  2. Strategic Vision
  3. Destination - Gate
  4. Start Dialing - Buoy
  5. Engaging Chevrons - Octagon
  6. Goa’uld Attack - Torpedoes
  7. Location - Bins
  8. Trade Offs Between Complexity and Reliability.
  9. Design Strategy
  10. Mechanical Design
  11. Electrical Design
  12. Electronics Stack Architecture
  13. Acoustics
  14. Software Design
  15. Computer Vision
  16. ...and 17 more sections

Figures (8)

  • Figure 1: Full SOLIDWORKS Assembly of Oogway
  • Figure 2: Aluminium base plate built for adaptability
  • Figure 3: The stack sits prominently at the center of Oogway. This is also a design consideration as the IMU, located inside, is mounted at the center of mass of the robot.
  • Figure 4: Acoustics Filter and Amplifier Boards with BPF Backpack
  • Figure 5: Magnitude of Frequency Response of Filters. Bandpass 'hump' visible at $\sim$40kHz contains ping. Attenuated $\sim$18kHz noise also visible.
  • ...and 3 more figures