On September 1, 2004, we did the latest pool test with MicroSeeker, one that was much more successful than the last one we filmed in April. The new configuration is finally starting to work, and now I have to work on the software, optimizing the sensors and controllers to make the sub respond to what I want it to do.
We took some pictures, and got a lot of video, including some great underwater footage, which is now available below..
Here are the first set of pictures (you can click on each image for a bigger version):
|Here's a nice picture of the sub
sitting on the surface after a run. It is slightly unbalanced, listing in
the back and being too buoyant in the front, but not too bad overall. You
can see the new 6" two-bladed propeller I am using, which has twice the
pitch (4" versus 2") of my old three-bladed propeller.
With this new propeller, the sub goes twice as fast, clocking about two feet per second.
|This is part-way through a simple straight-line dive mission. You can see the propeller is turning, and the sub is a couple feet below the surface.|
|Here's an interesting picture of the sub breaching the surface, halfway through a simple straight-line dive mission. During this mission, the sub dives to between two and three feet deep, and then resurfaces, and dives again. I will be analyzing the logs from these missions to work on the software.|
These underwater videos were filmed using my friend's ROV, which has a black and white video camera in the nose. The first video (the one in color) was filmed using a normal hand-held camcorder.
|Here's a capture from the first video, which you can download here (1,499 KB). This was just a simple straight line test, where the sub goes forward for about 15 seconds, diving under while its at it. The depth sensor had a software problem, so it was not behaving quite like it should, but in general I was very happy.|
|Here's a neat view from
underwater, with a chase camera. You can get the video
here (1,297 KB).
The interesting effect on the prop is a function of the digital video camera we used -- its actually turning at about 600 RPM.
You can click on the images to the left for larger versions, which are captures from the hi-quality original AVIs (total size around 450 MB, so I won't be posting them...)
|This is from a video clip with a
stationary camera, with the sub moving away. You can get the video
here (1,057 KB).
My friend's underwater camera is black and white, so for now that's what the video is. He is planning on getting a color camera for his ROV, which will allow us to get color video once we get it installed.
|This is from my favourite video --
the reflection of the sub off the underside of the surface gives a
perspective you don't often see.
You can see this video here (1,223 KB).
|And finally, a different fly-by
You can see this video here (1,211 KB)
As usual, if you have any questions or comments, please email me.
Go back to the main MicroSeeker page.