Controls and Perception
BOTH teams used ______ for object detection + segmentation.
What is YOLO v8?
To counteract the weight from additional task mechanisms on their robot Talos, Ohio state added ________ to increase the sub's buoyancy.
What are metal water bottles?
BOTH Robots use ______ as their primary on-board computer.
What is a Jetson Orin?
ARVP has this many batteries on board.
What is 5?
In training their computer vision model, Ohio State created ______ data to further improve accuracy and adaptability.
What is augmented?
ARVP's Robot (Arctos) frame is made from stock L-brackets and __________, creating excess mounting space to test new subsystem designs and configurations.
What is welded aluminum tubing?
This resource was used by Ohio State to determine the appropriate O-ring and groove dimensions for their machined servo housings.
What is Parker Hannifin's Dynamic O-ring design tables?
Lipo batteries should never be kept at full charge capacity for more than four days and should be stored in ________.
What is a Lipo Battery Bag or Protective Casing?
In 2023, AVRP overhauled their controls to use a ______________, with one controller for each of the vehicle's 6 axes of motion.
What is a cascading PID controller?
In addition to a Doppler Velocity Log (DVL) and Inertial Measurement Unit (IMU), ARVP's robot Arctos uses ______ to provide additional mapping updates.
What is a front and bottom facing camera?
This acronym is used as a mantra for a smart systems engineering approach, highlighted in the Robosub 101 document.
What is KISS (Keep It Simple Silly)?
On BOTH robots, power from the Lipo batteries is taken and converted to ___ and ___ power rails.
What are 5V and 12V?
This method, commonly used for sensor fusion in statistics and control theory, is employed by the Ohio State team as an algorithm for localization (Found in Appendix A).
What is a Kalman filter?
After ARVP ran full throttle tests of their primary computer, it reached 90° C after 40 min, exceeding the safe operating temp of 80° C. They did this to combat it.
What is thermal paste the computer directly to the hull?
This board is used as the on-sub board to interface with the Blue Robotics long-distance tether.
For the 2024 season, Ohio State combined their Power and Actuator boards into their custom "PoActuator" board which includes a ________ to prevent back-flow current.
What is a regulatory diode?
Ohio State used Matlab's Simulink Coder toolbox to generate C++ code of their controls model which hybridized _______ and ________.
What are a PID Controller and a Sliding Mode Controller (SMC)?
This project created by Ohio State eliminated one of the main hurdles in AUV testing: tether management, significantly increasing system reliability.
What is the Tether Spool?
Ohio State's issues with magnetic disturbances impacting IMU read-outs led them to purchase a _______ which turned out to be more resistant to magnetic and acceleration disturbances.
What is a Fiber Optic Gyro?
While some teams allocate power differently from different batteries or have "hot-swapping" capabilities, Ohio State uses a _______ which takes power from it's starboard and port battery before distributing it (Appendix G).
What is a battery balancer?