Denied
(っ╥╯﹏╰╥c)
（゜◇゜）
*crickets chirp*
(;￢＿￢)
ﾍ(=￣∇￣)ﾉ
On the left we see BBAUV 4.0
the combination of an iterative design effort
and a constant drive to improve and innovate
to bring team bumblebee to new heights
With an even smaller footprint
and a drastic reduction in weight
BBAUV 4.0 aims to be even lighter
and nimbler than its predecessors
setting a new benchmark in both design
and operational efficiency
Let's check out how our mechanical team is doing
The mechanical team sought to design
an AUV with no compromises
a streamlined competition focused
vehicle without excess
The final hull featured a drastic
reduction in internal volume
and thus a reduction in the
neutrally buoyant weight of the AUV
while still allowing for the
retention of the full sensor suite
The design was further optimized
through the use of finite element analysis
with incremental improvements made
to minimize weight and maximize strength
The CNC machined hull
coupled with the metal 3d printed battery hulls
allowed for full utilization
of even much more novel
advanced manufacturing methods
The integration of much more rigid internal lattices
granted by recent advances in
additive manufacturing methods
serves to further improve the overall
structural integrity of the vehicle
and reduce overall weight
The new highly integrated hull
also features built-in water cooling
to dissipate the heat generated
by the computing units
The mechanical design at its core is aimed at ideality
pushing the boundaries of traditionally
accepted constraints
innovating and striving to do
exactly what we wanted to do
setting a new bar for design and performance
A true no compromises vehicle
Next up, let's visit the electrical team
The BBAUV4 design focuses on the
ease of maintenance and assembly
In order to facilitate the efficient removal
and replacement of the daughter boards
from our backplane system
custom PCBs are made 
to house components with multiple wire connections
allowing for those components to be used
in a plug and play fashion
Furthermore cable connections are routed in such a way
so that they do not obstruct access 
to the daughter boards
To help with the debugging process
we've ensured connectivity
between different layers of our system
An Enternet link and a CAN bus link
is deployed to allow for easy resetting
and reading of status of our lower level systems
The acoustic subsystem features
a variable gain amplifier
to allow for real-time adjustments
of our signal processing
and to maximize the resolution of the sample wave
and to prevent clipping of the sample signal
Lastly, let's check in with our software members
In BumbleBee, we believe the way to
deliver a robust system
is through the combinatorial innovation of
both the hardware and software
With BumbleBee AUV 4.0
we focused on redesigning our software controls
and have developed a new velocity based controller
that provides accurate positional and
velocity control for our AUV
making it possible for new AUV to
perform complex maneuvers
at greater speeds compared to
our previous iterations
In previous years we had heavily relied
on physical testing in waters
to debug and improve our algorithms
However we have now transitioned
to integrate software simulations
as part of our test-driven development cycle
utilizing three unique simulation tools
Firstly, Gazebo
for testing the overall autonomy of our vehicles
Next, MatLab Simulink
for fine tuning of controllers
based on the vehicle's model dynamics
obtained from our CFD analysis
Finally, our most unique simulation tool
Minecraft
｡(*^▽^*)ゞ
This simulator runs at the incredible speed
of 10 seconds per frame
Indeed it's a work in progress
In the process
we opted to simulate the robosub experience ﾉ( ´ ▽ ` )ﾉ
for our new team members
(゜Д゜;)
Welcome to our new lab
(／*＾▽＾)／
Let the ceremony begin
o(〃＾▽＾〃)o
Σ(T□T)
Wait no no no no no
(ﾟдﾟ；)
(explosion)
(≧ڡ≦*)
