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Autonomous Underwater Robots

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.

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Autonomous Underwater Robots






Presentation on theme: "Autonomous Underwater Robots"— Presentation transcript:

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