Autonomous Underwater Vehicle:

1. Autonomous Underwater Vehicle: Milestone #2 Project Proposal Group 4 Victoria Jefferson Reece Spencer Andy Jeanthanor Yanira Torres Kevin Miles Tadamitsu Byrne

2. Problem Statement • Vehicle must operate autonomously • Dimensions of AUV : 6ft x 3ft x 3ft • Weight of AUV must be less that 110lbs • Pressure rated for a depth of 16ft • Complete specified tasks (not yet released) • follow a marked path, maneuver through a gate, drop markers into a specified bin, locate a pinger, and grasp a rescue object • Upon time expiration AUV should surface in designated area

3. Operating Environment • Camp Transdec, CA • Salt water pool • AUV will be hoisted into the pool • 15 minutes to complete all objectives • Traverse a distance of 50ft • AUV must have a 0.5% buoyancy

4. Solutions Approach

5. Statement of Work • Tasks have been divided into five technical areas • Micro processing and programming • Propulsion System • Vehicle design • Competition components • Sensors • Power and electronics • Each member in the group is given a specific technical focus area based on educational background as well as technical interests, knowledge, and/or experience

6. BeagleBoard

7. BeagleBoard • The BeagleBoard is an OMAP3530 platform • Power: USB Power/DC Power • Additional memory can be added (if necessary) • A 6 in 1 SD/MMC connector is provided as a means for expansion and can support such devices as: • Camera • GPS modules • miniSD cards

8. BeagleBoard

9. Micro processing & programming • Microprocessor • Takes the input from the different sensors, analyzes the data, and then sends output signals to the motors, claw, and marker dropper • Software • Program the ARM microcontroller • C++ • Joint Architecture for Unmanned Systems (JAUS) • ARM Assembly • Continuity (programming done in one computer language)

10. Micro processing & controlling • C++ • Decrease the complication of programming • Increase the readability of the code • JAUS • Point bonus • Opportunity to work with state of the art technology • ARM assembly • Ability to access the memory directly • Work at a low-level programming stage

11. Computer Schedule

12. Computer Budget

13. Propulsion System • 4 thrusters will control direction and depth • Left and right thrusters control the turning as well as forward and reverse propulsion • Front and back thrusters control depth • Motor controllers • Pulse width modulated output signal from microprocessor will be utilized to control the speed of the motor

14. Propulsion System Thruster Selection • Seabotix SBT150 • Built in motor controllers • Provides sufficient thrust

15. Vehicle Design • Hull • Pelican box • Water tight and large enough to house all electrical components • Frame • Must support and house all components • 8020 (T-frame) Aluminum • Easily adjustable • Minimize cost

16. Vehicle Design

17. Vehicle Design

18. Competition Components • Marker Dropper • Use two magnets (permanent/electromagnet) • Permanent magnet holds steel sphere • Electromagnet cancels magnetic field • Drop metallic sphere • Mechanical Grabber • Used to hoist a rescue object • Design process not complete • Scoop • Array of claws • 3 prong grabber

19. Competition Components

20. Sensors • Camera • Shape Recognition • Color Recognition • Webcam • Charge Coupled Device (CCD) • Excellent low light performance • Housing • Inertial Measurement Unit • Stability control • Data will be input into the microcontroller for data analysis

21. Sensors • Hydrophone • Locate fixed pinger • 4 hydrophones, 2 parallel in the horizontal axis to determine direction, 2 parallel in the vertical axis to determine depth

22. Mechanical Schedule

23. Mechanical Budget

24. Power and Electronics • Supply sufficient power • electronics, sensors, additional components and four thrusters • Identifying power required • Thrusters have been chosen • Electronics and sensors have to be finalized • Additional components have to be finalized • 2011 rules have not been released

25. Power and Electronics Battery Selection • Thrusters • Use two LiFePO4 batteries in series • Thrusters will be connected in parallel • Thrusters can run for over one hour continuously • Max current drawn by the entire circuit will be 21.2 Amps with Voltage of 28.1 V • Microcontroller,Webcam,Hydrophones • 5V, 5A battery using voltage/current regulators

26. Top-Level Design

27. Electrical Schedule

28. Electrical Budget

29. Risk Assessment • Budget Miscalculations • If budget is incorrectly estimated the treasurer is required to reevaluate all expenditures. • reopen the parts/materials search process with the team and find cheaper parts to reduce expenses. • required to begin searching for new sponsors in an attempt to raise more money.

30. Risk Assessment • Critical Scheduling Issues • If production is vastly behind schedule the project manager is tasked with evaluating team performance • Every team member is required to work extra hours on weekends • Sections of the design that are not critical may be eliminated • Evaluate design to determine what to pursue and abandon

31. Risk Assessment • Malfunctioning Parts • Repair • Warranty • If the warranty holds the malfunctioning part will be returned in exchange for a working part • If the budget allows, one spare part will be ordered for the important items when they are purchased • Otherwise money will have to be raised to purchase replacement parts

32. Risk Assessment • Loss of Team Member • Sick, injured, or has departed • Split additional work among the team • The team member will be kept ‘in the know’ so that upon their return the team member can get back to work • If the team member is unable to return the team will divide their part and ‘keep the ball rolling’

33. Risk Assessment • Requirements/Specifications Not Met • Adjustment current design • Reevaluate what can be accomplished • Abandon components that are not required to qualify for the competition • The team will have to adjust their goals and try to deliver a finished product • The team will also lay the groundwork for the next team in meeting all requirements and specifications for the next competition

34. Risk Assessment • Technological Issues • Sensors • Not communicating with the microcontroller correctly • Reevaluate wired connections and programming • Seek faculty assistance • Exclude specific function until further notice • Microcontroller • Review specific software resulting in malfunction • Rewrite and reintegrate software into main program • Rewrite entire program

35. Risk Assessment • Technological Issues • Electronics • All electronic equipment, connections and wires will be reviewed • Any faulty equipment will be discarded and replaced • The team will be required to provide extensive documentation as to why problems occurred and what can be done to prevent this problem for the next team working on the AUV

36. Deliverables • Hardware • Reports • Project proposal • Detailed design and test review • Laboratory notebook • Weekly meeting minutes • AUVSI journal paper • Schematic

37. References • http://www.auvsifoundation.org/AUVSI/FOUNDATION/UploadedImages/AUV_Mission_Final_2010.pdf • Team 4 Final Proposal • BeagleBoard User Manual