Ryan Lipski Cameron Putz AND Nick Sikkema Advisor Dr Joseph Driscoll Department of Electrical and Computer Engineering Bradley University October 2 2014 Outline Background Design Approach ID: 621553
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Slide1
Autonomous Underwater Robots
Ryan Lipski, Cameron Putz, AND Nick SikkemaAdvisor: Dr. Joseph DriscollDepartment of Electrical and Computer Engineering, Bradley UniversityOctober 2, 2014Slide2
Outline
BackgroundDesign ApproachEconomic AnalysisMilestonesDivision of LaborSocietal and Environmental Impact
1Slide3
Problem
Map underwater terrain using multiple autonomous robotsAvoid collisions Generate a final image of the terrain2Slide4
Literature Review
AUV historyAUV swarm researchUnderwater minefieldCocoro
Source:
http://www.wired.com/2013/03/powers-of-swarms/all/
3Slide5
Constraints
Avoid harming underwater organismsBattery lifeFunctional up to two feet of waterRobots must be reasonably sized
4Slide6
Detection Methods
AcousticElectromagneticOpticalImage processingLEDs5Slide7
Blue LEDs - Visibility
6
Source: http://www.academia.edu/4161991/Designing_a_Wireless_Underwater_Optical_Com
munication_SystemDesigning_a_Wireless_Underwater_Optical_Communication_SystemSlide8
Blue LEDs - Detection
Source: http://www.academia.edu/4161991/Designing_a_Wireless_Underwater_Optical_Communication_SystemDesigning_a_Wireless_Underwater_Optical_Communication_System7Slide9
Related Patents
CN 102916744 A - Underwater LED visible light communication systemUS 20140212142 A1 - Underwater optical communication systemUS 20050232638 A1 - Methods and apparatus for underwater wireless optical communication
8Slide10
Cocoro
Source: https://www.youtube.com/watch?v=Hjkmm13Scm4Source: http://i.ytimg.com/vi/XUk-qLfiwlc/0.jpg9Slide11
Swarming Techniques
BoidsSimulates the flocking of birdsCriteria include cohesion, separation and alignmentSource: http://igeo.jp/tutorial/43.htmlCohesion
S
eparation
A
lignment
10Slide12
Swarming Techniques cont.
MinimalisticBased upon BoidsCriteria include cohesion, separation and pseudo-alignmentSource: http://igeo.jp/tutorial/43.html11Slide13
Design Approach
Standalone swarmSwarming techniquesDirectional guidanceProject disciplines
Testing
12Slide14
Design Approach - Individual Submarines
Motorworks SeawolfStatic divingLiteraturePower systemCamera module
13Slide15
Design Approach - Individual Submarines Cont.
Detection arraySensorsIMUCompassPressure
Motor
control
14Slide16
Design Approach - Alternate Solutions
Add leader boat to swarmDrop weight systemBottom detection systemSpread out detection arrayDIY submarine15Slide17
Testing and Metrics
Minimize costAutonomousDurableMobile underwaterPortabilityPower
efficiency
16Slide18
Economic Analysis
Cost of submarine: $189.0017DescriptionCost
Swarm cost
$756.00
Testing
$78.16
Total cost
$834.16Slide19
Milestones and Schedule
18Slide20
Division of Labor
Detection arrayCamera circuitConstruction of submarinePCBProgram layout
Controls
Sensors
algorithm
Swarming
algorithm
19Slide21
Societal Impact
Development is ethicalAquatic industries/research will be affectedOriginally marketed as a toy RC submarineSubmarines will navigate at relatively slow speedsBoats could collide with the swarm20Slide22
Environmental Impact
Low natural resources costsLost submarines could pollute the waterPlant life could be disturbedLarge obstacles will be detected and avoided21Slide23
Summary
Design ApproachEconomic AnalysisMilestonesDivision of LaborSocietal and Environmental Impact22Slide24
Autonomous Underwater Robots
Ryan Lipski, Cameron Putz, AND Nick SikkemaAdvisor: Dr. Joseph DriscollDepartment of Electrical and Computer Engineering, Bradley UniversityOctober 2, 2014Slide25
References
http://neuron.tuke.sk/hudecm/PDF_PAPERS/DesignAndControlOfAutonomousUnderwaterrobotsASurvey.pdfhttp://www.wired.com/2013/03/powers-of-swarms/all/http://igeo.jp/tutorial/43.htmlhttp://www.academia.edu/4161991/Designing_a_Wireless_Underwater_Optical_Communication_SystemDesigning_a_Wireless_Underwater_Optical_Communication_Systemhttps://www.youtube.com/watch?v=Hjkmm13Scm4http://i.ytimg.com/vi/XUk-qLfiwlc/0.jpg
24Slide26
Gantt Chart – Design Software Structure
25Slide27
Gantt Chart – Design Single Submarine
26Slide28
Gantt Chart – Directional Guidance
27Slide29
Gantt Chart - Build/Test – Single Submarine
28Slide30
Gantt Chart - Build/Test - Swarm
29Slide31
Gantt Chart
– Project Deadlines30Slide32
Detailed budget - Submarine
QuantityCost PerTotal Cost
Description
4
$10
$40
Pressure Sensor
4
$50
$200
Submarine
4
$5
$20
Surface mount processor
12
$3
$36
3 Watt blue LEDS
24
$10
$240
Blue Filtered Photodiodes
4
$10
$40
Compass and IMU
4
$10
$40
Camera Circuit
4
$20
$80
Surface mount Components
4
$15
$60
PVC material
4
$10
$40
H-Bridge Chips
Total
$756
Per Submarine
$189
31Slide33
Detailed budget - Test Stand
QuantityCost PerTotal Cost
Description
3
5
15
Processor
Chips
1
17.05
17.05
PVC
Test Stands
1
46.11
46.11
PVC
Test Container
Total
78.16
32Slide34
Circuit diagrams
33Slide35
Flowcharts - Camera
34Slide36
Flowchart Motor Control
35