AUV ROBOSUB 2016-2017 COLORADO STATE UNIVERSITY ELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT SENIOR DESIGN FALL 2016
PRESENTATION OVERVIEW 1. Introduction to the team and project 2. Sub-team constraints and design i. Mechanical ii. Sensors iii. Power and Propulsion 3. Summary with Q&A 2 Colorado State University, Electrical and Computer Engineering Department
TEAM MEMBERS • Project Advisor • Graduate Student Advisors • Dr. Anthony Maciejewski • Megan Emmons • Chris Robbiano • VIP Team Advisor • Olivera Notaros • Junior Team Members • Marta Camacho • Senior Computer Engineer • Oren Pierce • Tyler Loughrey • Billy Phillips • Senior Electrical Engineers • Freshman Team Members • Brett Gonzales • Chris Alleman • Chris McLean • Ben Fox • Phil Meister • Katie Wood • Senior Mechanical Engineers • Prospective Senior Members • Nate Marquez • Ty Henningsen (EE) • Seth Purkey • Jordan Lankford (EE) • Mitchell Yohanan 3 Colorado State University, Electrical and Computer Engineering Department
TEAM ORGANIZATION Project Advisor GSA GSA Team Lead Propulsion Lead Mechanical Lead Sensor Lead Sub-team Members Sub-team Members Sub-team Members 4 Colorado State University, Electrical and Computer Engineering Department
PROJECT OVERVIEW • Project Purpose • Killick is a multi-disciplinary, student-proposed senior design project involving the design, construction, and testing of an autonomous underwater vehicle (AUV) Cornell University Argo (Double Hull) based on the US Navy (SOURCE: http://www.cuauv.org/vehicles.php) RoboSub Competition University of Florida SubjuGator 8 (SOURCE: http://subjugator.org/?page_id=2661) 5 Colorado State University, Electrical and Computer Engineering Department
COURSE LAYOUT Scoring Metrics • Speed • Accuracy • Weight Known Features • Depth control • Path following 6 Colorado State University, Electrical and Computer Engineering Department
BUDGET AND FUNDRAISING Sponsorships: Item Cost • Ball Aerospace Motors $1800 • Hewlett Packard Motor Control / MicroControl $1000 • IEEE Power Supply $800 Sensors $2500 MISC $1000 Funds raised: Final Vehicle Chassis $1500 • $16,600 Prototype Vehicle Chassis $800 Mechanical Blunders $1000 Electrical Blunders $1300 Total $11,700 7 Colorado State University, Electrical and Computer Engineering Department
PROJECT TIMELINE • First Year Goals • Estimated Project Timeline • Establish an operational platform for future • September-December 2016 • Design and simulation, Test Rig teams • Restricted 1 st year design • Start build of Test Rig • Mechanical design and fabrication • December-March 2017 • Inertial and image based sensing • Rules release December 2016 • Propulsion • Design refinement, Final Rig • Start build of Final Rig • Future teams to refine sensing, controls, • March-May 2017 • Design revision and additional testing mechanical armature, and efficiency • Gain practical engineering experience in propulsion, control systems, vision, sensing mechanical design/test, and team dynamics 8 Colorado State University, Electrical and Computer Engineering Department
MECHANICAL OVERVIEW • Chassis Design • Electrical Housing • Ballast System 9 Colorado State University, Electrical and Computer Engineering Department
CHASSIS • Main purpose is to provide protection for the electrical housing and motors • Modular design for mounting external motors • Drag Force = 15.6 lb-f Original Design Considerations: Box vs X-Wing Current Design 10 Colorado State University, Electrical and Computer Engineering Department
ELECTRICAL HOUSING • Maintain a safe and dry environment for the internal electrical components • Potential Shapes • Half Cylinder, Half Capsule, Full Cylinder • Overall volume directly affects buoyancy • Material Full Cylinder • Transparency required • Options: Acrylic, Clear PVC, Polycarbonate Half Cylinder Half Capsule 11 Colorado State University, Electrical and Computer Engineering Department
ELECTRICAL HOUSING CONT. • Cap Design • O-Ring for seal on detachable cap Thermodynamics: Temperature Plot • Main source of heat dissipation • Thermodynamics • Fans increase heat transfer rate Thermodynamics: Velocity Plot • Max internal temp of 70˚C • Ease of access 12 Colorado State University, Electrical and Computer Engineering Department
BALLAST • Achieve Neutral Buoyancy • Volume of vessel determines dry land weight • Current Upward Buoyant force: 95lbs • Fail Safe • Achieve positive buoyancy upon electrical failure • Using a ‘balloon’ and mini CO2 Cartridge 13 Colorado State University, Electrical and Computer Engineering Department
MECHANICAL - FUTURE WORK Manufacturing Testing/Validation 14 Re-Design Colorado State University, Electrical and Computer Engineering Department
PROCESS AND FLOW (ELECTRICAL) Sensor Data (SD) Detect Terminology Processing (SPU) SD – Sensor Device Correct SPU- Sensor Processing Unit MCU – Master Control Unit Decide Decision (MCU)) MPU – Motor Processing Unit MD – Motor Driver Translate (MPU) M - Motor Respond Locomotion (MD+M) 15 Colorado State University, Electrical and Computer Engineering Department
SENSOR AND PROCESSING OVERVIEW Raw Images Optical Devices (OD) Image Processing Unit Filtered Images Pressure Transducers Sensor Processing Inertial Measurement Processed Sensor Data To MCU Raw Sensor Data Unit (SPU) Unit (IMU) 16 Colorado State University, Electrical and Computer Engineering Department
SENSORS • Inertial Measurement Unit (IMU) • Sensors Processing Unit • Provides movement data for 3 orthogonal axes • Low Power consumption • Accelerometer • GPIO pins for sensors communication • Gyroscope • Magnetometer • Needs filtering to reduce noise • Pressure Transducers • Differential Pressure • Outputs voltage relative to underwater pressure • Calibrated at top of water Sparton AHRS-8 IMU Sparton (SOURCE: http://www.unmannedsystemstechnology.com/wp- content/uploads/2012/07/sparton.jpg) 17 Colorado State University, Electrical and Computer Engineering Department
PROGRESS • Research Issues • Noise Reduction • Signal-to-Noise Ratio (SNR) • Communication Protocols • Filtering • Python bit manipulation Low SNR High SNR 18 Colorado State University, Electrical and Computer Engineering Department
IMAGE PROCESSING • Cameras • Provide raw images of guiding line on bottom of pool • Able to extract these images in real-time • Needs to be filtered to find position of vehicle • Image Processing Unit • Converts raw images to navigational data for the SPU • Filters to find only the line of tape and its position relative to the camera Allied Mako G-234 Allied Vision (SOURCE: https://www.alliedvision.com/en/products/cameras/detail/Mako%20 G/G-234.html) 19 Colorado State University, Electrical and Computer Engineering Department
IMAGE PROCESSING PROGRESS • Have developed multiple schemes to filter for the line before finding one that works Original Test Image First Filtering Attempt 20 Colorado State University, Electrical and Computer Engineering Department
IMAGE PROCESSING PROGRESS CONTINUED Image with Region of Final Filtered Image Interest Identified 21
SENSORS - FUTURE WORK • Inertial Measurement Unit (IMU) • Image Processing • Implement filtering schemes • Calculate position of line relative to whole • Calculate real position image • Fine-tune filtering scheme for real-world • Sensors Processing Unit (SPU) testing • Combine pressure transducer and IMU • Master Control Unit (MCU) data to increase positional accuracy • Communication protocols to MCU • Convert navigation data to usable data for Motor Controller 22 Colorado State University, Electrical and Computer Engineering Department
OVERVIEW OF POWER AND PROPULSION Control Motor Driving Motors Power Weight, Thrust, IVP IVP & Weight & Size 23 Colorado State University, Electrical and Computer Engineering Department
INITIAL DESIGN CONSTRAINTS • Motors • Power Supply • Motor Processing Unit • Most likely digital signal • Weigh << 5lbs each • “Small” motors processor • Compact • Power systems must be • Easily mountable • Cost should be ≈ $300- calculated to size batteries • Weighs under 1lb per 800 motor • Must have built in Battery • Must be able to control 6 Management • Cost of motors ≤ $300/motor motors independently • Must report to Master and in real-time Control unit for safety • Must exceed torque • Reinforces DSP reasons requirements for vehicle notion • Can always use less but only if available 24 Colorado State University, Electrical and Computer Engineering Department
MOTORS THRUST VOLTAGE, CURRENT, POWER WEIGHT • • Less weight = higher score • Fluid Modeling 15.6 lb-f 3 phase BLDC sensorless • • Naked motor ( 0.16 lbs ) Thrust proportional to speed • ~430 W x effective area • Housing ( < .16 lbs) • ~770 Kv • Effective area • ~30 A proportional to torque • • ~16 V nominal 𝑈 𝑁𝐵𝑌 = 𝐿 𝐹 ∗ 𝐽 𝑁𝐵𝑌 • 10 lb-f for 3 inch propeller TMotor UAV Brushless Motor MS2814 770Kv Machinable Wax Blocks 2" (BLDC) 25 Thick
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