Updates are also posted to the main "Summary" page

New Design:

See the Design page for more in-depth details of modifications. The main modifications have included:

• Replacement of wireless GoPro camera with hard-wired Microsoft LifeCam.
• The whole main pressure vessel has been redone, including newly fabricated endcaps and modular electronics wiring. See the Design page for fabrication details or main "Summary" page for new pictures in the slideshow.
• The new electronics rack is made out of plastic. The electronics have been reorganized on the new rack for better access and space efficiency.
• The batteries have been moved outside of the main pressure vessel for easier swapping and charging.
• The programming is being done from scratch. We did away with C#, Roborealm, and Microsoft Robotics Development Studio. New programming has been chosen to be C++ and OpenCV libraries, since these are easier to work with and are more compatible with MSU's Computer Science curriculum.
• Other minor electronic and mechanical upgrades, including better relays for the pneumatic system and new aluminum rails on the frame.

Functional Specifications:

The RoboSub is designed to follow the missions given to teams by the Annual International RoboSub Competition committee. Our RoboSub is designed so that it can move autonomously depending on the scenario in which it is placed. The RoboSub must follow a line across the bottom of a pool. The RoboSub has thrusters that will propel it in all directions. It is programmed to know its location and depth and plan accordingly so that it may complete other missions such as finding a buoy and touching it or submerging and propelling itself through an underwater gate.

The primary functions of the submarine are to be waterproof and to be able to control its position underwater according to sensor data. This year’s group has made changes to last year’s pre-existing submarine to be much more robust and modular. Last year’s group had known problems with both the waterproofing and the position control. The end cap that housed the wired connections and protects the inner computer from the water was leaking. This end cap has been redesigned with better seals and wired connections to ensure that no leakage is found. The new design has proven to be without leaks and much superior to the previous design.

Autonomous control of the sub is done primarily through the detection of colors and shape detection. The new programming includes the use of C++ and OpenCV libraries on a Windows OS.