20230616 Torpedo Test

Time to test the capability of our prototype torpedo launcher at different distances!

The Test Plan

We will test the torpedo launcher by shooting at our test target underwater from 0.3m, 0.45m, and 0.6m, thirty-three times each.

Issues

The torpedo tends to turn to the left after traveling for about a little over 0.3m.  

Results

The launcher successfully made it through the target 20/20 times at 0.3m. The turning behavior occurs after it makes through the target. 

However, for 0.45m and 0.6m, it was not able to make it into the target reliably (1/10 at 0.45m, 0/9 at 0.6m) due to the turning behavior. 

I took a very long time to shoot, and we were not able to complete thirty-three times for each distance but garnered enough information to help us.

Lesson learned 

This helped us realize that our torpedo should probably be redesigned with four fins instead of three, as three fins are not enough to stabilize the torpedo.

20230104 In Water Testing

Observation: when driving in a straight line, the sub nose pictures down. Hypothesis barometer on the back of enclosure is force towards the surface and makes the sub induce a dive during depth hold.

Noticing after a bit of testing at 1950 that sub was pitching up. I think this is caused due to battery shifting in battery enclosure. Will be cramming the battery enclosure with more foam to reduce battery movement within battery enclosure. Pitching up of the sub was caused by the pipe buoyancy pod that we were using to flood as it ends were not sealed, reverting to pool noodle

Testing in progress:

20230527 Gripper Underwater Testing

20230527 Gripper Underwater Testing

20230318 Mounting and Underwater Testing

 

20230318 Mounting and Underwater Testing

 Mounted MD design onto the sub and confirmed that it fit properly and did not interfere with other sensors or cameras. Tested MD design underwater and it worked. Used golf balls as markers and when released by control arms they would drift and not land in the designated location. Tested a new 3D printed control arm and it worked. 

   

20230311 Testing the Dropper

   

Test fitted servo and mounts. Created a test bench using an arduino for performance verification. 

20231102 Land Testing

3D printed MD design for test fitting

 

9/12/22 32 consecutive open and close

8/31/22 Laying out Electronics + First Two Sided Test

 Colin Szeto

Added in the battery and emo box representation onto the top of the wam-v platform

File location:

Electronics > “laying out on the top of the platform”

Construction of all 4 sides of the landing platform

The longer bars compressing 

Thinking of utilizing steel cables to make a criss cross pattern to introduce rigidity to the design

Reference here

By the end of the day utilizing off cuts this was the current configuration of the drone landing platform. A solution for supporting the landing plate the drone feet will interface with has yet to be designed.

8/15/22 Assembly and First Test of Drone Landing Platform Single side

 Colin Szeto

Opening of the carts

When the motor is reversed the carts roll towards the center of the bar

7/4/2022 Drone Testing

 Lindsay Wright

Setup procedure

-setup gps home on tripod

- connect battery wire and power on *very carefully*

-calibrate compass

Guide is CubePilot and ArduPilot

Here1 manual

Enter some parameters based on these guides

Reboot

Disconnect something (on computer program), go to setup

Open QGroundControl

Setup drone

Rotate all over place after beep

A) 360d 1 direction upright

B) 360d other dir upright

C)point antenna towards you, rotate 360d

D) “baby roller coaster” (rotate while gently spinning drone in random directions)

Unscrew knobby screws to engage arms

Screw to lock

CCW blade

CW Blade

Mount on drone:

Gold brass ring (DO NOT LOSE)

Rotor

Steel wheel shape

2 screws

Quadcopter formation: front in, CW rotors in diagonal

Weak points: arm (mech), battery (elec)

Level calibration

Video coming soon!

Calibrate gyro by pushing a button

Overrode safety checks

Flying the drone: manual under 50% throttle, hold position 50% throttle is hover

Battery: 25.2V is full 22.2V is empty

Successful flight of 20 minutes, moving around, for 4.5 kg drone

Need to test with payload of camera and grabber

Coach Alex says the drone is on the heavy side and doesn’t leave much margin for payload.