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ENSIETA Autonomous vehicle SAUC’ISSE

ENSIETA Autonomous vehicle SAUC’ISSE. SAUC’ Interval Super Submarine of Ensieta. Introduction Technical design Mechanical description Embedded electronic architecture Safety considerations Craftsmanship Conclusion. > Content. Introduction. Introduction. Team members

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ENSIETA Autonomous vehicle SAUC’ISSE

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  1. ENSIETA Autonomous vehicle SAUC’ISSE

  2. SAUC’ Interval Super Submarine of Ensieta • Introduction • Technical design • Mechanical description • Embedded electronic architecture • Safety considerations • Craftsmanship • Conclusion > Content 09/07/2009 - 2

  3. Introduction 09/07/2009 - 3

  4. Introduction • Team members • Fabrice LE BARS (PhD Student) • Jan SLIWKA (PhD Student) • Alexandre KABIL (Undergraduate student) • Arnaud FERRE (Undergraduate student) • Luc JAULIN (Professor) 09/07/2009 - 4

  5. Technical design 09/07/2009 - 5

  6. Technical Design : Mechanical Description • Aluminium made • Amagnetism • Resistance to corrosion • Watertight • 2 aluminium plates with waterproof connectors (3 screws per plate) • Resistance to pressure up to 10 meters • Stable in rolling and pitching • Keel • Easy to equilibrate • 3 thrusters (2 horizontal and 1 vertical) • 2 removable Plexiglas stages inside 09/07/2009 - 6

  7. Technical Design : Electronic Architecture 09/07/2009 - 7

  8. Technical Design : Safety • It is Red : easy to spot ! • Easy emergency switching by a brake • Thrusters protected • Electronics protection • No leak for 3 years • Aluminium tube • Good heat conductor  Natural cooling 09/07/2009 - 8

  9. Craftsmanship 09/07/2009 - 9

  10. Craftsmanship • Simple mission planning through text files • Robust • Permanent • Repeatable • Everything is done with sonar • New set membership methods • Interval constraint propagation  Faster algorithms • Q-intersection  Taking into account sonar outliers • Offline mapping from log file • Simulator demonstration 09/07/2009 - 10

  11. Conclusion 09/07/2009 - 11

  12. Conclusion • SAUC’ISSE is a simple and robust robot with new and efficient methods 09/07/2009 - 12

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