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System Identification of an Autonomous Underwater Vehicle

This study explores enhancing capabilities of an IVER2 Autonomous Underwater Vehicle with additions like cameras and sensors. System identification is performed to improve response and data collection efficiency, with ongoing controller implementation for better performance.

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System Identification of an Autonomous Underwater Vehicle

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  1. System Identification of an Autonomous Underwater Vehicle By: Evan Olson and VishalDoshi

  2. Introduction • Autonomous Vehicles allow expanded capabilities over manned data collection • Relatively low cost, versatile and robust Ocean Server’s IVER2 Autonomous Underwater Vehicle (AUV) Image Courtesy: Ocean Server

  3. Objectives • Create a versatile platform for underwater sensing • Mapping • Water profiling • Autonomous navigation • Modify existing IVER2 platform • Add Cameras • Add Sensor Suite • Custom Motion controller

  4. Iver2 Capabilities • Vehicle Size: 5.85 inch diameter; 60” length; 40-50lbs displacement • Endurance: 10 hours at speed of 2.5 kts • Speed Range: 1-4 kts • Control: Four independent control planes, movable internal ballast  • External Hook-up: Data - wireless 802.11g Ethernet (up to 1 km comm. distance) Power - 2 pin DC charge voltage in • Navigation: Dead reckoning; Differential GPS (when on the surface) • Tracking: Internal data log – programmable resolution  • Software: Windows XP Pro, GUI-based Navigation Suite Mission Planning Software  • Energy: 570 WHrs of rechargeable Lithium-Ion batteries (>300 cycles) • Onboard Electronics: SBC with low power X86 processor, 512 MB Memory  • Communication: 2.4 GHz radio link when surfaced to download missions and upload collected data; Acoustic modem option

  5. Modifications Pictured above are the two additions that were added to the IVER2 platform. To the right: Ocean Servers Sonde (Courtesy: Ocean Server). To the left: Nosecone Extension.

  6. Modified AUV This is the IVER2 platform with the modifications attached. These modifications change the dynamics of the vehicle.

  7. Method • In order to account for the additions to IVER, a new systems identification needed to be performed. • This was accomplished in a series of steps • Collect data set from unmodified AUV • Create a controller and compare to built in controller • Collect data for modified AUV • Create new controller

  8. Results • Due to time constraints and several setbacks only the initial data set was collected. • System identification done in MATLAB and SIMULINK. • Controller was designed and is currently in the process of being implemented on the AUV. • Controller gives large improvements in response.

  9. AUV Response

  10. Conclusions • Initial results are promising. • There is still a large amount of work to do. • Test controller • Collect modified dataset • Design new controller • Implement and test

  11. Testing Video

  12. Questions?

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