December 2008 Newsletter Released
Jan 11, 2009
The December Newsletter sums up uw2tt's 2009 post competition happenings, and acknowledges our current sponsors.
2009 Sponsorship Brochure Released
Dec 15, 2008
The 2009 sponsorship brochure has been released! Please contact David, Cameron, or Nathan using the address below if you are interested or if you have any questions.
MATE 2009 Competition Details Released
Nov 21, 2008
The 2009 MATE ROV competition mission details and rules have been released!
The competition will be held at the Massachusetts Maritime Academy from June 24 to 26, 2009 . The focus of this competition will be to design and build an ROV capable of successfully completing a submarine rescue training exercise. Please visit the 2009 MATE International ROV Competition site for more details.
New Calendar, Mailing Lists
Sep 1, 2008
We are pleased to announce that we now have a new calendar (under that aptly named "calendar" link on the left). This calendar will be updated regularly to show upcoming meetings, training sessions, or other events. You can even add the calendar to your favourite calendar application (such as google calendar) so you'll always be up to date.
We have moved to a new mailing list structure to help keep everyone informed. We encourage you to sign up to our announcement list to receive important announcements and notifications of our general meetings. If you're interested in the activities of a particular group in the team, you can also sign up for the mechanical, electrical or software lists.
Back From The Competition!
Jul 1, 2008
The team arrived back from the 2008 MATE international ROV competition. We placed 3rd for our technical report and scored well in the other technical areas. We have learned much at the competition and are already planning how we can make our next vehicle our best one yet. An innovative communication system, new imaging systems, and a new streamlined housing are some of the ideas being considered.
Competition Photos Added
Feb 22, 2008
Photos have been added from the 2007 MATE ROV Competition. They can be viewed here:
Photo Gallery
Website Updates
Feb 22, 2008
The website has been updated with more pictures, the sponsorship brochure, the newsletter and recent minutes. More updates will be coming in the future including more pictures, a new logo, new colour schemes and more!
Team Officially Registered for 2008 MATE ROV Competition
Jan 22, 2008
The University of Waterloo Underwater Technology Team is officially registered for the 2008 Marine Advanced Technology Education Center (MATE) Remotely Operated Vehicle (ROV) Competition. The competition will take place in San Diego, California in late June. The competition guidelines are listed below for those of you who are interested.
General Information
Missions
Rules
Engineering Communication Guidelines
2008 Sponsorship Brochure Released
Jan 15, 2008
The 2008 Sponsorship Brochure has been released! Please contact Julianne at Julianne.T.Kline@gmail.com if you are interested or if you have any questions.
See it here: Page 1 Page 2
Summer Outreach in Full Swing
Jul 16, 2007
With our completed vehicle (Neo 1), the University of Waterloo Underwater Technology Team has been involved with community outreach events though the summer. We have participated in the City of Waterloo Canada Celebrations and weekly visits by elementary school children attending the University of Waterloo ESQ Camp (Engineering Science Quest). Most recently our vehicle was on display at Student Life 101 a day long orientation for students accepted into UW for next September.
At these events we teach students about robotics and their applications, including the uses of ROVs for offshore work, and in scientific research.
We enjoy these events and plan to continue with them in the future. If you school or community group is interested in a presentation with the vehicle, please contact us.
Ups and Downs at the Competition
Jun 25, 2007
The 2007 competition was a great experience.
With numerous successes as well as disappointments the team rallied to make the most of every situation. Problems continued to disrupt the team as we performed a final assembly and testing of the vehicle. A component of our Pan and Tilt Camera system failed and we were not able to showcase this component during the competition. However, we were able to showcase other major systems. The competition judges were particularly interested in our Space Control, Industrial Steering Device. This is the intuitive device that the pilot uses like a joystick to control the vehicle. Unfortunately due to a design flaw that was not previously identified our vehicle was prone to loosing propellers and we dropped two propellers in two of our missions. Despite this we were still able to complete some mission tasks.
Overall we placed 10th out of the 19 team competing and we placed 4th overall in the engineering evaluation.
ROV Ships to the Competition
Jun 20, 2007
After some final testing to get everything working the vehicle has been shipped to St, John's for the 2007 International MATE ROV Competition.
The Team Tests at ASI
Jun 19, 2007
ASI Group, a sponsor of the team has a facility with a large pool for vehicle testing. This was a great opportunity for the team to see industrial vehicles and gain some understanding of what it is like to work with ROVs in an industrial environment. The visit made a significant impact on the team.
Unfortunately, two of the six thrusters currently on the vehicle did not work and we were not able to use the facility to its fullest. Despite this problem, we did learn a lot about the controllability of our vehicle and how we should operate it at the competition.
Team is Plagued by Gremlins
Jun 14, 2007
Today a gremlin was discovered hiding in the ventilation system that passes through our lab. For some time the team had suspected such a creature to exist as overnight working components would often stop working and tools would often be misplaced throughout the lab. After multiple hours of questioning the gremlin, who choses to remain nameless, confessed to all major problems that the team has recently been experiencing. These include the leaking electronics housing and the communication problems between the GUI and the custom control boards.
The University of Waterloo enforces a strict catch and release policy with gremlins so we were required to let him go. However, he promised to spend his time with Midnight Sun, the schools solar car team who has a lab directly above ours.
Custom Connectors Designed and Built
Jun 4, 2007
To reduce the system cost and improve system reliability, penetrator style connectors are used on the vehicle. These were made in house by turning down brass hex-stock then potting the connection with a custom mold.
Vehicle is Ready for the Water
Jun 1, 2007
The thrusters are mounted and the electronics installed.
Once underwater connectors and surface electronics are complete we will be ready to operate the vehicle.
Competition Paper Completed
Jun 1, 2007
One of the requirements of the MATE ROV Competition is that each team submit a technical report. Our report for the 2007 competition focuses on the controllability of our vehicle and our ability to incorporate partial autonomy.
Internal Electronics Complete
May 27, 2007
Independent testing of all vehicle electronics is complete and assembly of the internal chassis is underway. Currently wiring is being made to rout power and data between each of the boards.
ROV Frame Is Complete
May 24, 2007
Welding of the vehicle frame was completed today in the Engineering Machine Shop here at UW. The frame consists of an inner PVC frame that was water jet cut and then assembled with fasteners. The outer frame is made from bent and welded aluminum tubing. This frame will provide ample protection for the electronics housing and the vehicle thrusters.
Internal Electronics Are Nearing Completion
May 18, 2007
All critical internal electronics have been completed. Both custom boards, the motor control board and pan and tilt board are now functional and communicating with the control computer. The on board Microstrain 3DM-GX1 (attitude sensor) and the Space Control, Industrial Steering Device (pilot control interface) are also functioning as expected with the control computer.
A non critical sensor board to detect over temperature and seal leaks has been designed and will be integrated in the next couple weeks.
Vehicle Network Is Brought On Line
May 12, 2007
The Waterloo vehicle is setup as a network with four primary nodes. Two Systech serial servers an IQinVision camera and the surface control computer each has a dedicated IP on the network. After 3 hours of debugging and testing, the entire network is now functional.
IQinVision Camera Arrives
May 10, 2007
IQinVision has provided the team with an IQeye 501 camera, to be used with our forward facing pan and tilt unit. This is an IP camera, connected to our on board network. Control signals sent from the surface over the network direct the orientation of the camera through a custom board. The video from the camera is then sent to the surface and into the pilots head mounted display.
Motor Control Board - Half Complete
May 9, 2007
Technical difficulties have arrived in the development of the motor control board. Four of the motors control channels are successfully operating. However, there are on board communication problems between the master and slave microcontroller that is causing problems.
MicroStrain Provides Attitude Sensors
May 8, 2007
MicroStrain has supplied the University of Waterloo Underwater Technology Team with two 3DM-GX1 inertial sensors. These are high quality sensors capable of accurately monitoring orientation.
One of the sensors has been mounted inside of the pilot display helmet. The sensor will communicate with the control computer, to monitor the pitch and yaw of the pilot’s head and ultimately controlling the pan and tilt of the vehicle camera.
The second sensor will be mounted into the vehicle. The sensor data will be used to allow for partial autonomy of the vehicle. This feature will give the pilot the ability to set a virtual ground. During the 2007 MATE competition we plan to allow the vehicle to autonomously stabilize itself upside down using the ice sheet as a virtual ground. Partial autonomy will also be used in the wave pool to resist against motion of the waves and in the flume tank to stabilize the vehicle in the flow.
Umbilical Arrives
May 2, 2007
A 60 ft and a 120ft umbilical has been provided by Leoni Elocab of Kitchener Ontario. Lioni specializes in the fabrication of custom cables. The Waterloo Team umbilical contains two power busses for motor and electronics as well as an Ethernet line for communications.
Pan and Tilt Board Complete
May 1, 2007
Development of the pan and tilt control board is complete. Using the standard vehicle protocol, commands may be sent from the control unit to the board which in turn controls the servo position to set the camera angle.
Maxon Motors Arrive
Apr 30, 2007
Maxon Motors and Electromate have provided 8 motors for use in the vehicle thrusters. Maxon motors were selected for their high efficiency and proven reliability. Initial test show the motors to be highly controllable and an ideal selection for our application.
HMD Arrives
Apr 20, 2007
A key feature of the vehicle is it’s intuitive nature. Through the use of a head mounted display and the MicroStrain 3DM-GX1 the pilot is immersed into the environment, while the motion of the pilots head controls the motion of the camera.
ASI Continues Sponsorship
Mar 23, 2007
ASI Group of St. Catharines, world leaders in long penetration pipe and tunnel inspections, are continuing their support for the team. We greatly appreciate both the financial support and the mentorship that ASI has provided.
Systech Provides Serial Server
Feb 9, 2007
Systech has provided the team with an RCS-3284 serial server that will meet our needs precisely. This device is the central hub of our telemetry system, receiving instructions from our topside control computer, distributing these commands through 4 serial ports and a single Ethernet port. The server then receives data from the systems within the vehicle and relaying this data to the pilot on the surface.
Winter Recruitment a Success
Jan 12, 2007
Each new term the University of Waterloo Underwater Technology Team publicizes the team, ensuring that interested students are informed about the projects being pursued. This term a number of students interested in electronics and coding have joined the team.
2007 Competition Rules Released
Dec 22, 2006
The final mission tasks for the 2007 MATE ROV competition have been released. In recognition of the International Polar Year (IPY), the 2007 international ROV competition challenges students to design and build ROVs for operation in the polar environments. The competition also challenges students to increase their understanding of Polar Regions and how these regions impact – and are being impacted by – our global climate.
for more information about the 2007 Competition mission tasks visit the competition web site. http://www.marinetech.org/rov_competition/2007/international_comp_2007.php
RIM Joins the Team
Dec 20, 2006
Research In Motion, the manufacturer of the BlackBerry wireless PDAs and a Waterloo company, has come on board with the team. The 2007 system will incorporate BlackBerry technology, allowing for an enhanced system given the mission tasks and the competition theme.
We welcome RIM and look forward to integrating the Blackberry into our system.
New Website is Launched
Oct 20, 2006
On October 20th the University of Waterloo Underwater Robotics team launched our new website. The new site has much the same look and feel as the old site but will contain new and enhanced features. Each of our sponsors will receive a dedicated page on the site allowing for a more complete company profile to be presented. This site also allows users to easily view the team newsletters as well as up to date information regarding our progress with a new photo gallery and outreach section.
We hope that you enjoy the site and find it both intriguing and informative. If you have any questions about the team or the site content please send an email to UW2TT@engmail.uwateroo.ca
