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RoboSub Project Proposal

Team #5 - RoboSub. RoboSub Project Proposal . Overview. Jonathan Wong Chong. Mechanical Design Electrical and Power Software Design Vision Path Planning/ SLAM IMU/ Stabilization Motion Control Decision Making Task Manager Budget & Schedule Questions. Project Management.

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RoboSub Project Proposal

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  1. Team #5 - RoboSub RoboSub Project Proposal

  2. Overview Jonathan Wong Chong • Mechanical Design • Electrical and Power • Software Design • Vision • Path Planning/ SLAM • IMU/ Stabilization • Motion Control • Decision Making • Task Manager • Budget & Schedule • Questions

  3. Project Management Jonathan Wong Chong • Matthew Neafie • Vision • Object Recognition/ Color Recognition • Path Planning • Mono- simultaneous localization and mapping (SLAM) • Daniel Cifredo • IMU • Data Acquisition for Hydrophones and IMU • Data Storage

  4. Project Management Jonathan Wong Chong • Julius Cobb • Decision Controlling • Motion Controlling • Stabilization • Jonathan Wong Chong • Electrical and Power • Task Manager • Torpedo Fire Controller/ Claw

  5. Jonathan Wong Chong -- Team #5 - RoboSub Mechanical Design

  6. Current Design Jonathan Wong Chong • Reuse the Design from Last Year

  7. Hull Jonathan Wong Chong • Still Watertight • Easily Accessible

  8. Jonathan Wong Chong -- Team #5 - RoboSub Electrical and Power

  9. Electrical Designs Jonathan Wong Chong

  10. Electrical Components Jonathan Wong Chong

  11. Electrical Designs Jonathan Wong Chong

  12. Electrical Components Jonathan Wong Chong

  13. Power Components Jonathan Wong Chong • 14.8V Polymer Li-Ion Batteries • Only powering thrusters • 19v 4Ah Li-Ion External Laptop Battery • Powers main CPU unit • Lasts roughly 2-3 hours • Essentially powers all USB devices as well • 12v Li-Ion 18650 Box Battery • Regulated to power actuation system

  14. Electrical Components Jonathan Wong Chong

  15. Final Product Jonathan Wong Chong

  16. Matthew Neafie -- Team #5 - RoboSub Software Design

  17. Software Overview Matthew Neafie

  18. Vision Matthew Neafie SURF, Speeded Up Robust Features • Algorithm which extracts  some unique key points and descriptors from an image. • Implementing the SURF algorithm in the OpenCV library • C++ • Fast/Usability • Image Processing Libraries • Steps of SURF • Integral Image (Integral Image Representation) • Fast-Hessian (Vector of Interest Points) • SURF Descriptor (Pixel intensities) Graphical SURF Example (achuwilson)

  19. Vision Matthew Neafie Previous Demonstration RoboSub Team 2012-2013 Color Recognition and Tracking • Continuation from previous team’s work • OpenCV Library • RGB format video capture • Matrixes in Red, Green, Blue • Convert RGB to HSV for a better color based image segmentation • Adjust Hue, Saturation and Value for different colors or clearer images

  20. Path Planning and SLAM Matthew Neafie • Simultaneous Localization and Mapping • Robert Castle’s PTAMM (Parallel Tracking and Multiple Mapping) software • Open Source and Available to use for Academia • Built from Georg Klein’s PTAM (Parallel Tracking and Mapping)  • Ability to create multiple maps, and automatically switch between • Map serialization. Maps can be saved and loaded to and from disk.

  21. Path Planning and SLAM Matthew Neafie • Loads map information from the database built by SLAM, updating the obstacle map information. • Setting the starting point and the goal by the given task. • Checks to see if the overall task is completed. • FM algorithm compute distance of every pixel, then get the distance matrix D(i,j). • Extract the optimal path. • Save and loop when AUV arrive at the sub-goal.

  22. Path Planning and SLAM Matthew Neafie Fast-Marching Algorithm

  23. Julius Cobb -- Team #5 - RoboSub Software Subsystems - Continued

  24. Inertial Measurement Unit Julius Cobb • Device that will contribute to Data Acquisition module • Sparkfun Razor IMU • Nine Degrees of Freedom (9DoF) • Incorporates three sensors into one compact board • ITG-3200 Triple-Axis Gyroscope (Roll, Pitch and Yaw) • ADXL345 Triple-Axis Accelerometer • HMC5883L Triple-Axis Magnetometer • Data is directly processed by on-board ATmega328 • Output via serial communication • 3.5V-16V DC input

  25. Inertial Measurement Unit - Continued Julius Cobb • Arduino Mega will be programmed to read output from IMU via serial stream • Relevant data will be output to the MPU for use by the other modules • Gyroscope : Roll, Pitch and Yaw • Accelerometer : X-acceleration, Y-acceleration and Z- acceleration

  26. StabilizationModule Julius Cobb • Main purpose will be to stabilize the AUV • Stabilization module will essentially poll the IMU to determine whether or not the AUV is balanced • If Attitude is determined to be abnormal, run stabilization algorithms in conjunction with the Motion Control module • Input • IMU data • Output • Stabilization methods for the Motion Control module

  27. Motion Control Julius Cobb • Two essential jobs • Maintain stabilization of AUV • Guide the AUV along the path determined by Path Planning and Decision-maker Control System modules • Input • Path data determined by DmCS and Path Planning modules • Control data produced by the Stabilization module • Output • Data to increase/decrease current thrust levels for each of the six different thrusters

  28. Thrusters Julius Cobb • Simultaneous control of the six thrusters via the Motion Control module will allow AUV movement in various directions • Movement in basic directions is summarized by the table below : Nose of RoboSubKey

  29. Thrusters - Continued Julius Cobb • Seabotix BTD 150 thrusters (six) • Delivers ~ 3lbs of thrust each • 4.25A current with an applied 19V • Thrusters are essentially controlled by one Arduino Mega via Pulse Width Modulation signals • Arduino will send PWM signals to L298 H-Bridge Motor Controllers • L298 H-Bridge Motor Controllers interpret signals and deliver varied voltages from battery to thrusters • X applied voltage to thrusters = Y amount of thrust !

  30. Thruster Control Hardware Julius Cobb • Arduino Mega • Operating Voltage: 5V • Input Voltage: 7-12V • Digital I/O Pins: 54 (15 allow PWM output) • Analog Input Pins: 16 • DC Current per I/O Pin: 40mA • L298 H-Bridge Motor Controller • Operate Voltage: 6-26V • 4A total drive current • Requires 5V for board power • Motor direction indicator LEDs

  31. Daniel Cifredo -- Team #5 - RoboSub Software Subsystems- Continued

  32. Decision-making Control System Daniel Cifredo • What to do and how to do it • Mission Planning • Path Planning • Deployment • Diagnose & Correct • Goal Directed • Obstacle Avoidance • Pose Holding • Depth Holding Weighted Total Output

  33. Task Manager Daniel Cifredo Stack of Tasks • Recognized by Vision and Mapped • Unrecognized TASKS Gate Parking Torpedo

  34. Task Manager Daniel Cifredo Stack of Tasks • Recognized by Vision and Mapped • Unrecognized TASKS Removed Gate Parking Torpedo

  35. Daniel Cifredo -- Team #5 - RoboSub Schedule & Budget

  36. Schedule Daniel Cifredo • October 28th, begin writing code to control RoboSub’s vision, movement, IMU data acquisition, and data storage • November 21st , begin writing code for the SLAM, Stabilization Control System, and Path Planning on the RoboSub

  37. Schedule – Gantt Graph Daniel Cifredo

  38. Daniel Cifredo

  39. Daniel Cifredo

  40. Daniel Cifredo

  41. Daniel Cifredo

  42. Daniel Cifredo

  43. Conclusion Jonathan Wong Chong • Start Work on Thrusters, IMU, Vision • On Schedule • Thank You!

  44. Questions?

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