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RoboSub

Team #5 - RoboSub. RoboSub. Introduction. Association for Unmanned Vehicle Systems International (AUVSI ) July 28- August 3, 2014 in San Diego, California. Meet the Team. Our Mission.

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RoboSub

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  1. Team #5 - RoboSub RoboSub

  2. Introduction • Association for Unmanned Vehicle Systems International (AUVSI) • July 28- August 3, 2014 in San Diego, California

  3. Meet the Team

  4. Our Mission • This group is dedicated to working hard in order to improve and further develop the existing RoboSuband fulfill the requirements of the AUVSI competition. We will work together as a team, taking into consideration all ideas and opinions, in order to reach our goal of a fully functional and competitive RoboSub.

  5. Jonathan Wong Chong -- Team #5 - RoboSub Needs Analysis

  6. Required Needs Analysis • The RoboSub must complete all tasks autonomously • The RoboSub must follow a snaking line segment path • The RoboSub must drive through a gate placed in the water .

  7. Wants Analysis • The RoboSub should be able to read a lighted buoy (“traffic light”) and place them in order • The RoboSub should be able to “park” between two PVC pipes • The RoboSub should be able to drop colored markers into bins • The RoboSub should be able to fire two torpedoes at predetermined targets • The RoboSub should be able to manipulate a “steering wheel” and spin the wheel 360 degrees and move a “shifter” 180 degrees • The RoboSub should be able to follow an acoustic pinger and surface in a designated box

  8. The Course

  9. Matthew Neafie -- Team #5 - RoboSub Functional Requirements

  10. Functional Requirements These requirements are necessary to complete the competition tasks but are not required to enter the competition: The vehicle will require a number of control systems: • Vision • Navigation • Thruster control • Hydrophone controller • Depth and distance calculations • Targeting system for the torpedoes

  11. Functional Requirements The AUV will be designed as a state machine to complete the tasks in the competition. 1 2 TASKS 3 4

  12. Vehicle Requirements for Competition • The AUV must weigh less than 125lbs. Preferably, less than 85lbs for the competition. • The entire vehicle must fit within a box that is 6 feet long, 3 feet wide, and 3 feet deep. • Vehicle must be battery powered. • The vehicle is required to be slung on a harness. • Kill switch. • Thrusters must be shrouded.

  13. Torpedo and Marker Requirements • Each marker and torpedo must fit within a box 2.0” square and 6” long. • Each must weigh no more than 2.0 lbs in air and must bear the team name or an emblem. • The torpedoes must travel at a “safe” speed. A “safe” speed is one that would not cause a bruise when it strikes a person.

  14. Competition Requirements • For the competition, the RoboSub team should submit a 10 page journal paper and video introducing the team, the craft, as well as strategies for the competition. • Intent to Compete form and the entry fee must be received by AUVSI Foundation

  15. Julius Cobb III -- Team #5 - RoboSub Preliminary Testing Plan

  16. Overview • Currently two test plans that will be used to empirically verify the aforementioned requirements • Capabilities Test Plan – used to demonstrate and verify the RoboSub’s functional capabilities • Constraints Test Plan – used to verify the RoboSub has been designed within the constraint parameters outlined in the Official Rules document

  17. Capabilities Test Plan • AUV will be tested in freshwater pool to verify various functional capabilities • Test course will be designed and assembled at the Florida State University Morcom Aquatics Center • Test course will replicate competition course as closely as possible • Evaluation of functional capabilities will be directly measured by ability of AUV to complete the following 2013 RoboSub Competition Mission objectives:

  18. Validation Gate • Rectangular PVC gate • AUV shall pass through the gate while avoiding contact with the structure

  19. Path • Path constructed of PVC pipes and covered in bright Orange paint • Path will be oriented to replicate path used in competition • Following path should allow AUV to arrive at next task destination Section of the path

  20. Traffic Light • Three buoys that will match size and shape of those used in competition • One buoy will be green, one red and one yellow • AUV shall strike buoys in predetermined order based on color

  21. Parking AUV should pass through area shaded in red • “Box” will consist of a horizontal PVC pipe accompanied by two floating risers (one colored buoy and one colored PVC pipe) • AUV shall pass through the “box” without making contact with the structure

  22. Speed Trap • Four bins constructed to match size, shape and orientation of those in competition • Two of the four bins will have yellow signs centered within them • AUV shall at least drop one marker each into any of the two bins • Ideally, AUV shall drop one marker each into the two bins with yellow signs

  23. Toll Booth • A square board separated into four quadrants • Each quadrant will contain colored hexagonal cutouts • AUV shall shoot one torpedo each through two of the cutouts in a predetermined order (by color)

  24. Driving • A rectangular board consisting of a PVC steering wheel and PVC shifter • Characteristics of steering wheel, board and shifter will replicate those used in competition • AUV shall rotate the wheel one full revolution and move the shifter opposite its current position

  25. Pizza Delivery • A pinger sitting at bottom of pool will sit directly below both a PVC “pizza box” and a surface-level hexagonal shape • Shapes, sizes, colors, weights, frequencies and dB levels will replicate those used in competition • AUV shall navigate to the pinger, retrieve the object, surface inside the shape and then release the object PVC Pizza Box Top view of task location. Pinger is centered in the middle of the surface level hexagon shape

  26. Constraints Test Plan • The complete RoboSub vehicle (dry) will be weighed on a scale to verify the weight constraint is met • The RoboSub’s markers (dry) will be weighed on a scale and placed in a storage box of appropriate dimensions to verify both the weight and size constraints of the markers are met • The RoboSub’s torpedoes will be verified against constraints in the same manner as the markers. An additional “safety” test will verify speed constraints for the torpedoes.

  27. Daniel Cifredo -- Team #5 - RoboSub Preliminary Schedule & Budget

  28. Preliminary Schedule • By October 5th, disassemble sub and place in water • By October 25th, finish preliminary testing of all components and reassemble sub • October 28th, begin writing code to control RoboSub’s vision • November 14th, begin writing code to control RoboSub’s movement • November 21st , begin writing code to all system’s on RoboSub

  29. Preliminary Schedule – Gantt Graph

  30. Preliminary Budget • Sub is already built and most parts have been bought • Assess all parts and make replacements if necessary • No substantial modifications to current design will be made • Should be less than 200 dollars • Building the test course • Should be less than 200 dollars • Print t-shirts and logo markers for equipment • Should be less than 65 dollars

  31. Preliminary Risk Assessment • Possibilities of water damage to circuit boards if RoboSub not properly sealed. • Defective parts will be replaced • Torpedoes could shatter if over pressured • Exposed wires underwater could lead to electrocution

  32. Conclusion • Programming Needed • Extensive Testing • See You in San Diego!

  33. Questions?

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