Documentation
Updates, build logs, test summaries, and formal technical design reports.
Technical Design Reports
Updates
ORCA Back in the Water: Second Pool Trials
ORCA's second in-water test: leak checks and movement scripts go smoothly until a misaligned Pixhawk and ZED 2i send the sub into the floor, and an overtightened kill switch lets water into the battery compartment.
Finalizing the Behavior Tree and Testing the Camera
Finalizing our behavior tree sequencing against the competition task descriptions, cleaning up the workspace, and testing the camera against last year's model.
Fixing Camera Latency: Migrating from ONNX to TensorRT
Tackling the camera lag that dropped us from a target of 720p @ 60 fps down to 0.5 fps, and why we moved our model runtime from ONNX to TensorRT on the Jetson Orin Nano.
DROPPER: From First Prototype to Final Design
The full development log of the dropper, from a 38mm rough prototype through five iterations to a final straight-finned, screw-in design — and its accuracy testing.
CLAW: From Brainstorming to a Compliant Design
Why last year's claw couldn't hold on, the ideas we considered (TPU bristles, a worm gear), and how we landed on a hybrid PLA + TPU compliant claw with a double-joint linkage.