MATE 2023

SeaHawk

Pioneer First Place Overall MATE World Championship

The SeaHawk is our second-generation ROV, engineered for participation in the 2023 MATE ROV competition. The ROV was built on lessons learned from our previous vehicle, Hydrozoa. With increased time and more resources at our disposal, Cabrillo Robotics Club set out to create a completely redesigned vehicle that prioritized modularity.
SeaHawk retained the research-style modular frame of Hydrozoa for its adaptability, but we made many advancements to all ROV systems. One of the most significant upgrades was the transition from a 4-thruster to an 8-thruster system, allowing us to achieve 6 degrees of freedom (DOF) control. This enhancement dramatically improved the vehicle's maneuverability and precision in underwater tasks. We also introduced a dedicated power box and expanded the power budget with upgraded electronics. To address tooling limitations, we designed and built a custom pneumatics manifold, replacing the previously unreliable servos. This change greatly enhanced our ability to manipulate objects and interact with the underwater environment.
On the software front, we implemented substantial improvements, including a major transition from ROS1 to ROS2. This upgrade enabled increased modularity, reliability, and maintainability in the software architecture, which was crucial for managing the increased complexity of the SeaHawk's systems.
SeaHawk's emphasis on modularity came with its own set of challenges. While the design allowed for a high degree of adaptability, it also introduced additional points of failure, requiring more maintenance and troubleshooting. Despite these setbacks, the Seahawk was a significant improvement over Hydrozoa and performed well in competition, ultimately securing First Place Overall in the Pioneer Division.


Technical Report

ROV Features

Primary Manipulator

Primary Manipulator

The primary manipulator is engineered for dynamic and reliable usage. It is mounted on the front of ROV SeaHawk within view of the multiple cameras. The custom-printed three-pronged jaws, and a flexible rubber interior, allow the operator to grasp irregularly shaped objects with ease. Once the object is secured, the piston may apply up to 70N of force to ensure the object of importance remains securely captured in the jaws.

T200 Thrusters

T200 Thrusters

ROV SeaHawk uses eight Blue Robotics thrusters mounted with custom 3D-printed brackets in a configuration that enables all degrees of motion. The motors are shrouded with 3D-printed guards for increased safety. Using flow simulations, the Cabrillo Robotics Club minimized shroud impact on thrusters from a 23% to 15% reduction in efficiency compared to the initial prototype. The thrusters also use a lower voltage than their technical maximum.

Logic Tube

Logic Tube

ROV SeaHawk is designed around a centralized 'logic tube.' The logic tube contains temperature and humidity sensors that are monitored by the software which alerts the pilot of any abnormalities for increased safety. It also encloses logic components and an auxiliary pivoting camera on a custom servo mount. The logic tube is completely waterproofed with specialized connectors and is vacuum sealed before every mission to ensure no leakage.

Fish Release

Fish Release

To aid in environmental restoration efforts and species conservation, ROV SeaHawk includes a fish release. The specialized release system was carefully designed for the safe, secure transport, and gentle release of species. Fish may be placed in the containment area, then driven to the site where they may be released through a sliding gate on the bottom. The fish release may be used to assist in conservation projects such as repopulating the Northern Redbelly Dace.

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