⚙️ Gearing Up for Comp ⚙️ With deadlines fast approaching (the boat leaves in less than two weeks 😱), we’ve been intensifying our efforts to tackle the competition tasks. This week, we successfully attempted the ‘scan the code’ task, capturing the colours displayed by an LED. We also made progress navigating between red and green buoys autonomously. @uni_newcastle #NUMarine2024 #UniNewcastle

💡 Sensor Fusion! 💡 This week, we've achieved sensor fusion of our camera and LiDAR. A checkerboard was held in front of the boat’s sensors to calibrate the individual sensors to achieve fusion. This fusion helps the boat gauge the distance of objects on the water from the boat— which is crucial for navigating our competition tasks. Additionally, we tested the light tower, a competition requirement. The tower's lights communicate our boat's status: green for autonomous operation, yellow for remote control, and red for emergency stop. @uni_newcastle #NUMarine2024 #UniNewcastle

🎣 Gone Fishing 🎣 The team came together to assemble spare PCBs and CAN wires, ensuring we're prepared for any breakages during the competition in America. @uni_newcastle #NUMarine2024 #UniNewcastle

🌟 Lidar Back in Action! 🌟 This week, our Lidar returned from the manufacturer after repairs. Lidars are crucial for detecting distances to objects around them, which is imperative for navigating the various obstacles in the RobotX competition tasks. @uni_newcastle #NUMarine2024 #UniNewcastle

🤖 AUTONOMY 🤖 After identifying and replacing a faulty GPS antenna and cable, we’ve successfully achieved autonomous movement of the WAM-V to a single waypoint using MPC (Model Predictive Control)! This is a huge step towards completing tasks in the RobotX competition. Next up is to modify our Guidance system to enable multiple waypoint following, then it is a matter of tuning our solution to the specific competition tasks. Alongside this victory, we brought along newly enrolled NU Marine juniors. Our goal is to gradually pass down the knowledge we’ve gained over the year, ensuring they do not start their commanding years with the limited knowledge we had when we started. @uni_newcastle #NUMarine2024 #UniNewcastle

🌊 Return to the High Seas! 🌊 A camera on the WAM-V captured images of red and green buoys to train a machine learning model. This model enables the WAM-V to autonomously identify and navigate around coloured objects on the water, as required for the various tasks in the RobotX competition. @uni_newcastle #NUMarine2024 #UniNewcastle

🔍 Honey, I shrunk the boat! 🔍 Alec Mowbray and Daniel Keen have been working on their own boat, dubbed the Slightly Larger Vessel (SLV), for the directed reading course ENGG2200. The name comes from the SLV being slightly larger than the previous training vessel. The SLV was successfully controlled via RC. @uni_newcastle #NUMarine2024 #Un

🦺 Safety First! 🦺 While operating an autonomous vehicle, safety is paramount. The WAM-V must be able to cease operations remotely at any time. Previously, this consisted of a tangle of wires connecting a microcontroller to an off switch. Luke Thompson has designed a PCB, replaced the microcontroller with the teams standardised Teensy 4.0, and printed an ergonomic enclosure to house all the components. @uni_newcastle #NUMarine2024 #UniNewcastle

🌞 Sun’s out, Sensors out! 🌞 A rare sunny day was utilised to test our sensors. After some tuning and testing, we managed to achieve GPS accuracy to more than desired. Meanwhile, we tinkered with our FLIR Blackfly camera sensor (with which these pictures were taken), testing the effect of glare with multiple lenses. @uni_newcastle #NUMarine2024 #UniNewcastle #FLIR #AdvancedNavigation

🛥 Thruster Node Update! 🛥 With new thrusters, must come new thruster nodes. Nick Duffy addresses this issue with a brand-new PCB, including new connectors fitting into Thomas’ upgraded voltage distribution boxes, along with current sensors for performance validation. But wait, there’s more! Nick has also redesigned a node for the bow thrusters, along with 3D printing housings for all three nodes. @uni_newcastle #NUMarine2024 #UniNewcastle

⚡ UNLIMITED POWER ⚡ The voltage distribution boxes are crucial for a functioning boat. Thomas Azaria has designed circuits to deliver the correct power where required inside two secure boxes, aiming to keep the outlets neat and tidy. With the help of Krish, a 3d printed plate now holds all the outlets on one face for easy access. This 3d printed plate will be upgraded to an aluminium plate later. @uni_newcastle #NUMarine2024 #UniNewcastle

🛰️ Simulations first! 🛰️ RobotX requires us to create a boat that completes tasks autonomously. Before testing our ROS2-developed algorithms on the WAM-V, we ensure they work safely and as planned. To achieve this, we use Gazebo, a simulation software. Our resident ROS2 researcher, Utkrisht Jain, is on the case, working with Gazebo. Utkrisht is currently developing a GPS based waypoint tracking system, allowing for precise navigation using GPS. @uni_newcastle #NUMarine2024 #UniNewcastle

📡 RC Node Update! 📡 Team leader Jacob Smith has been working on our RC node. The node receives inputs from our remote controller and converts them to a percentage for the thrust control nodes. Oopsie wires were removed from the PCB, and servicing/testing components were fit along with a general tidy up. The 3D printed housing was revamped to securely mount the transceiver inside its enclosure. The code now uses the new 2024 message format. Jacob implemented differential thrust, where the rear motors assist in turning with varying thrusts. He also introduced two signals: Armed and Auto mode. The RC won't pass commands unless armed, and Auto mode overrides autonomous control if deactivated. Next up, simulations! @uni_newcastle #NUMarine2024 #UniNewcastle

🔍 PCB Review! 🔍 Reviewing PCBs is crucial to making sure our projects progress quickly. One mistake can cause weeks of lost time. With everyone at NU Teams innovating 24/7, we need our PCBs to be fully reviewed before manufacture - by NU Teams’ standardised checklist (not that there are many mistakes). Our chief engineer, Liam Howell, acts as NU Marine’s last check in our extensive process, making sure each design will work first go. @uni_newcastle #NUMarine2024 #UniNewcastle #Engineering #PCBDesign #RobotX #WAMV #KiCAD #PJRC #Teensy #CoreElectronics

🔧 Upgrades, people, upgrades! 🔧 Our stern thrusters were in dire need of a replacement with more reliable ones, so we’ve brought back the fan-favourite T500s, which we also use for the bow thrusters. Our trusty Mechanical Engineer, Kirithar Vijayakumar, designed a pivoting mount using drawbar pins, allowing for fast engagement into the water. Future work involves manufacturing the drawbar pin from stainless steel and applying an anti-corrosive coating on the mount. Stay tuned for more! @uni_newcastle #NUMarine2024 #UniNewcastle

🚤 Boat Day! 🚤 We’re excited to show our first physical progress. Our RC system is up and running smoothly, and we’ve put it through some rigorous testing. Upgrades around the boat have been made, including, but not limited to, our long-overdue upgrade of the stern thrusters and a new communication protocol for the entire boat. More details on those in the coming weeks. Stay tuned for more! @uni_newcastle #NUMarine2024 #UniNewcastle

🌊 Meet the Crew of NU Marine 2024! 🌊 We're thrilled to introduce our brand new dynamic team. Our crew of Mechanical, Mechatronics, and Electrical engineering students brings unique skills and expertise to the table. Together, we're gearing up to make waves in the international 2024 RobotX competition in Florida, USA! Stay tuned as we share a slice of our efforts and results over the year. @uni_newcastle #NUMarine2024 #UniNewcastle

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