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Autonomous Underwater Vehicle:. Final Presentation Group 18 Victoria Jefferson Reece Spencer Andy Jeanthenor Yanira Torres Kevin Miles Tadamitsu Byrne. Project Overview. Autonomous Underwater Vehicle Competition Competing in TRANSDEC Anechoic Pool, CA in July 2011 - PowerPoint PPT Presentation


AUV Proposal

Autonomous Underwater Vehicle:Final Presentation

Group 18Victoria Jefferson Reece SpencerAndy Jeanthenor Yanira TorresKevin Miles Tadamitsu Byrne

1Project OverviewAutonomous Underwater Vehicle CompetitionCompeting in TRANSDEC Anechoic Pool, CA in July 2011

Competition OverviewAUV will complete tasks underwater15 minute time limit per run6 underwater tasksGraded on completion of tasks as well as team design


Preliminary RulesTheme: RoboLoveTasksValidation gateOrange PathBuoysLove LaneMarker Dropper or TorpedoAcoustic Pinger and rescueSurface in octagonWeight and size constraintsMust weigh under 110 pounds (Our AUV: appox. 50 lbs.)6ft long, 3ft wide, 3ft high (Our AUV: 2.5 x 2.0 x 0.75 ft)


Tad Bryne4Frame Overview80/20 Extruded AluminumCan easily adjust and move every componentCorrosion resistantDesign from previous year was pretty, but very difficult to adjust and manufactureShape is negligible at low speeds


Hull OverviewHull consists of a watertight Pelican Box (1450 Model)Purchasing Pelican Box is more simple than designing watertight housing and is also inexpensive Hull will house all onboard electronicsBox size was chosen based on size of batteries and onboard electronic components6

Marker DropperMarker must be dropped in a box on the pool floorUtilize Traxxas 2056 waterproof servomotor that will rotate arm to release markersThis method was chosen because due to simplicity and low cost used scrap aluminum from machine shopFirst design used electromagnets and was more complexThe device successfully dropped both balls on command7

Reece Spencer8Camera Housing DesignOriginal design involved large diameter PVC pipe and metal latchesPVC was too thin and metal latches were too largeFinal design uses acrylic and aluminum shell with acrylic viewing lensHomemade clamps compress O-rings and keep housing water-tight9

Waterproofing MethodsThe first method proposed was to use SubConn or Fischer pre-made connectors very expensive, but easyAlternative method 1: Connect pelican box and camera housing using vinyl tubingMethod 2: A combination of vinyl tubing and epoxyFinal solution:Camera Housing: Method 1Hydrophones/servo: Method 2Thrusters: SubConn connectors


In-water TestingThe buoyant force of the Pelican Box was +35 lbsThe camera housing was approximately neutral without cameraNo leaks penetrated either container after 15 minutes at a depth of 10 ftLead weights and sealed PVC pipes will be attached to the frame to make the AUV neutrally buoyant11

Kevin Miles12Major Power ComponentsBatteries Two 14.8 V DC batteries combine for 29.6V DC outputBuilt-in PCM maintains a voltage between 20.8 V and 33.6 VMotorsMax Power: 150W(each motor)Built in Motor Controller

13Switching Voltage Regulator (S.V.R.) for USB Power15V-40V inputOutput 5.17V, 6A

14Thruster OverviewSeaBotix SBT150 thrusters were chosen for functional ability and water resistance as well its built-in motor controller, voltage regulator, and low power consumptionFour thrusters will be placed on the AUV in a configuration that will allow for forward/reverse motion, left/right turning and depth controlOther thrusters were more expensive, larger, and had higher power consumption15

16ProductTest ProcedureExpected ResultsAchieved ResultsPass/FailSVROutput VoltageOutput: 5.3V5.176VPassBattery (2)Output VoltageOutput: 29.6V33VPassSwitchOn/Off Handles 150WHandles 150WPassThruster PlateWaterproofNo continuity underwaterNo continuity underwaterPassSubConn ConnectorsWaterproofN/A, Waiting ArrivalN/AN/AElectrical Tests

Victoria Jefferson & Andy Jeanthenor:17Prioritization of SensorsCamerasFunction: Eyes underwaterNeed: Critical (used in all tasks)IMUFunction: Sense of Direction UnderwaterNeed: ModerateHydrophonesFunction: Ears UnderwaterNeed: Low (used in only one task)18Software for SensorsCamerasOriginally OpenCVLast minute change: Matlab Image ProcessingDue to Linking errorsIMURS-232 interfaceLinux C Source Code


CamerasOriginal choice was Unibrain Fire-I, but the software was not compatible with our systemThree Logitech Quickcam Pro 4000 webcams will be usedNeeded for light/color and shape recognitionCCD camera chosen for ability to operate in low light conditionsThe cameras chosen for cost efficiency as well as compatibility with our software


Camera Tests21Type of TestDescription of TestPass/FailUnitEnsure proper configuration in OpenCV softwareFailUnitTest for acceptable quality imagesPassIntegrationCompatible with microprocessorIncompleteIntegrationIn Camera housing/produces same quality imagesIncomplete

Inertial Measurement UnitNavigation/Stability ControlPhidgetSpatial 3/3/3-9 Axis IMUAccelerometer: measure static and dynamic acceleration (5g)Compass: measures magnetic field (4 Gauss)Gyroscope: Measures angular rotation (400/sec)Chosen for low cost and because it contained a compass instead of magnetometer unlike other IMUs

22IMU Tests23Type of TestDescription of TestPass/FailUnitEnsure operational capabilities on WindowsPassUnitFunctionality on LinuxPassIntegrationCompatible with microprocessorIncomplete

Control System: BeagleBoardThe BeagleBoard(CPU):Single Board ComputerOperating System: Angstrom-BeagleBoard demo Programming: CodeSourcery GNU Toolchain (Cross Compiler)Outputs:I2CUSB/Serial Program will run real-time


Control System: ArduinoArduino DuemilanoveMicrocontroller BoardProgramming:Arduino IDEC Programming LanguageBuilt-in LibrariesOutputs:PWM ADCUART TTL (5V) serial communication/USB25

Component Software: MotorsProgramming:Communicate with Motor Controllers via I2CBeagleBoard I2C operate at 1.8V, 5V needed to communicate with motor controllersTrainerBoard will be used as expansion boardMotors tested with I2C ports on Arduino 26

Software Structure27NStartPath Found?Detect Current TaskFollow Path To ObjectiveObjective Found?Search For PathPath Lost?Complete ObjectiveStore Data and Increment Task CounterHave All Task Been CompletedFinishYYYYNNNSoftware Tests28ComponentType of TestDescription of Test Pass/FailAdruino BoardUnitChecked for factory hardware verification by reading the manual and make sure everything works as it should in the manualIncompleteBeagleboardUnitThe microcontroller and the sensors are fully powered by the proposed battery configuration. IncompleteSoftware Tests29ComponentType of TestDescription of TestPass/FailBeagleBoard with I2C expansionIntegrationBeagleBoard sends the appropriate instructions to the motors

IncompleteBeagleboard with SensorsIntegrationTest whether the microcontroller and the sensors perform the functions needed for AUV operation properly

IncompleteYanira Torres30HydrophonesSensorTec SQ26-01 hydrophone Full audio-band signal detection and underwater mobile recordingOperates at desired sound levelPerforms in desired frequency range (22-40 kHz)


Hydrophone Configuration 4 hydrophones will be utilized to determine the location of the acoustic pinger2 hydrophones will be placed horizontally to determine directionThe other two will be vertical in order to determine the depth32

Camera Housing Analysis33Stress Tensor (Pa)Acrylic cylinderAcrylic viewing lensAluminum end capSchedule3435

Budget3637Item QuantityPriceMain Battery 2$920.25Voltage Regulator1$80.00Motors/Thrusters4$2884.29Hydrophones3$609.99Microcontroller1$31.44BeagleBoard1FreeCCD Camera3$413.96Pelican Case1$87.40Miscellaneous (ME & ECE) Wires/Electronic Kits/Cables & ConnectorsN/A$789.388020 FrameN/A$220.68Aluminum Plate 14 in x 12 in x in1$70.00Inertial Measurement Unit1$162.23Total ExpensesN/A$6,269.6238ItemPriceTransportation(5 people driving, 2 flying)$3,000.00Hotel Accommodations(2 hotel rooms for 5-6 nights)$1,500.00Miscellaneous Expenses(such as replacement of damaged equipment)$1,500.00Total Expenses$6,000.00Special ThanksNorthrop GrummanHarris CorporationARMFAMU/FSU College of EngineeringDr. Harvey

39References"Official Rules and Mission AUVSI & ONR's 13th Annual International Autonomous Underwater Vehicle Competition." AUVSI Foundation. Web. Sept.-Oct. 2010. .Barngrover, Chris. "Design of the 2010 Stingray Autonomous Underwater Vehicle." AUVSI Foundation. Office of Naval Research, 13 July 2010. Web. 09 Nov. 2010.


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