here - RUAUV

beeuppityΤεχνίτη Νοημοσύνη και Ρομποτική

19 Οκτ 2013 (πριν από 3 χρόνια και 7 μήνες)

59 εμφανίσεις

RUAUV

Reykjavík University, Fall 2009


Kári Rafn Karlsson

Kristinn Jósep Kristinsson

Lahcen Bouhlali

Ólöf Kolbrún Hrafnsdóttir


Introduction


*
Unmanned Vehicle Systems International (AUVSI) Underwater
Competition had been orgnised for many years ago.Reykjavík University
first time is going to participate in the next 2010 competition which takes
place in San Diego, California.



*Ryekjavík University Autonomous Underwater Vehicle (RUAUV) has been
designed in order to achieve the missions that is required for this
compitition. The primary
design goal of RUAUV for this semester is to have
it remotely operated






The AUVSI Competition

Points are given for the following:


1.
The AUV has tasks:


Follow a path


Releasing an object on to a target


Identifying targets


Picking up objects


Time frame of 15 minutes + 5
minutes preperation


Weight and dimension restraints

2.
Teams have to turn in


Design report


Web site


Oral introduction on the AUV


Divin’ Dozen, 2009


Drive into boy


Fire a flare


Kafa undir fyrirstöðu


“Skríða” undir gaddavír


Sleppa sprengjum


Aðalskotmark og aukaskotmark


“Torpedoes”


Skjóta tundurskeytum í mark


Ná í hlut og fara í mark


Taka upp “skjalatösku”


Sleppa í burtu


4

RUAUV

Design requirements


Weight


Bonus points


22 kg < m < 38 kg


4,4 pts per kg


m < 22 kg


80 pts + 2,2 pts per kg


Penalties


38 kg < m < 50 kg


250 pts + 11 pts per kg


Disqualified


m > 50 kg


Dimensions


Length:

1830 mm


Width:

910 mm


Height:

910 mm


Buoyancy


+0,5% positively buoyant


Electrically powered


Voc < 60 VDC

RUAUV // previous designs

RUAUV // previous designs

RUAUV // our design


Simple


Few components


Easy to assemble


Easy to change

RUAUV // the frame


Side plates will be cut
out when all
components have been
placed


U
-
shaped pins hold the
pressure vessel in place

RUAUV // pressure vessel


200 mm Plexiglass tube


Aluminum endcap


Heat conduction from
electronics


RUAUV // battery
p
acks


Cells:


21 x 4000 mAh Ni
-
MH


1.1 V


1.3 V


Connected in series


6 columns of 3 cells


Alternating polarity


Hair clips connect the
columns together


Total voltage: 21 V


27 V


Plexiglass tube


Aluminum end cap


RUAUV // battery packs

RUAUV // thrusters


SeaBotix SBT150


Quantity


5


Depth rate


150 m


Weight


700 g dry


350 g in water


Power


Constant: 80 W


Maximum 110 W


Dimensions


Length: 173 mm


Width: 95 mm


Height: 90 mm



Propeller Servo Controller USB (#28830)


The Propeller Servo Controller allows to control up to 16
servos by sending serial commands from a microcontroller,
or from a PC via its USB connection.

The PSC USB allows to control up to 16 servos by sending
serial commands from a microcontroller or PC via serial or
USB connection.


Key Specifications



-

Power requirements: 5 VDC @ ~60
mA

for logic, 4.8


7.5
VDC for servos (do not exceed your

servos’ input voltage rating)


-

Communication: Asynchronous Serial @ 2400 bps or 38.4
kbps (TTL or USB)


-

Operating temperature: 32 to 158
°
F (0 to 70
°
C)


-

Dimensions: 2.26 x 1.80 x 0.65 in (57.3 x 45.7 x 16.5 mm)



24V 5A Dual H
-
Bridge Motor Driver


The MD22 is a robust low/medium power motor driver, designed to
supply power for two motors. Main features are:

1.


Drives two motors with independent control.


2.


Ease of use and flexibility.


3.


The 15v MOSFET drive voltage is generated onboard with a
charge pump, so the module requires only two supply voltages;



a)


A standard 5V supply for the control logic, only 50mA
maximum is required.



b)


Motor voltage, anything up to 24vdc to suit your motors.

4.


Steering feature, motors can be commanded to turn by I2C
register or input (Analogue + Servo).

5.


Control of the module can be any of;



a)


I2C bus, up to 8 MD22 modules, switch selectable addresses
and 4 modes of operation including steering..



b)


2 independent 0v
-
2.5v
-
5v analog inputs. 0v full reverse, 2.5v
center stop, 5v full forward.



c)


0v
-
2.5v
-
5v analog input for speed ,with the other channel for
steering.



d)


independent channel RC mode. Motors are individually
Controlled directly from the RC receiver output.



e)


RC mode with steering, allows speed control with one stick of
radio control, and steering with the other.



MD 22 mode function


RC Mode
-

0v
-
2.5v
-
5v


In this mode the motors are controlled independently by two
0v to 5v analog signal on the SCL (Motor1)


and SDA (Motor2)
lines.

0v is maximum reverse power

2.5v is the center stop position

5v is full forward power

There is a small (2.7%) dead band around 2.5v to provide a
stable off position.

DCDC
-
USB, Intelligent DC
-
DC converter with USB inte

DCDC
-
USB is a high power intelligent DC
-
DC
converter. This unit accepts any input ranging from
6
-
34V. Output is 12V regulated or output can be
changed with simple jumper settings to 5V, 6V, 9V,
12V, 13.5V, 18V or 24V or via USB in fine
increments (0.25V) anywhere from 5
-
24V.







fit
-
PC2 Computer



The fit
-
PC2 is a tiny PC computer based on Intel's Atom
Z530 processor and US15W chipset. It runs all standard
operating systems and software packages. The fit
-
PC2's
unique advantages include exceptionally small size,
quiet,
fanless

operation and very low power
consumption.

Main features are



Full
-
featured PC, tiny and power saving .


Intel Atom Z530 CPU @ 1.6 GHz .


Intel US15W chipset .


1GB DDR2.


DVI Digital display interface, up to 1920x1080.


HD Audio, line
-
out 2.0 / mic in / line
-
in .


1000Mb/s Ethernet port .


802.11g WiFi Six USB 2.0 ports miniSD and mini. PCI
express sockets .


IR receiver Phoenix.


BIOS Single 12V supply, 6W, fanless operation.

Dimensions
-

115 x 101 x 27mm.


Weigth: 370 g







RUAUV // electronics rack


Didn’t have time to
make it

System architecture

Testing // Mechanical


Primarily leak tests


Battery packs worked
like a charm


Pressure vessel leaked
at first but was mended

Electronics


Dry Test

Video

Gantt Chart

Cost


Approximate costs


Battery packs


98.267 kr.


Electronics


264.985 kr.


Pressure vessel


7.177 kr.


Thrusters


1.170.632 kr.


Battery charger


106.714 kr.


Cables


70.072 kr.


Total approximate cost


1.775.684 kr.



Next semester


Automating the AUV


Artificial intelligence


Machine vision


Webcam(s)


Image analysis


Sensors


Pressure sensors


Hydrophones


Compass


Sonar


Feedback control systems


Mechanical


Torpedos, arms, etc.


Testing!


Conclusion


The goal of the RUAUV
´
s design is achived for
this semester, which was to remotelly control
the vehicle.