Design and construction of an underwater robot Deivid Pugal - - PowerPoint PPT Presentation

▶

Dec 24, 2023 366 likes •506 views

Design and construction of an underwater robot Deivid Pugal Supervisors: Alvo Aabloo and Maarja Kruusmaa Institute of Technology, Univeristy of Tartu, Estonia Deivid Pugal Koke 2005 The Task To build electronics, motion control and

SLIDE 1

Design and construction of an underwater robot

Deivid Pugal Supervisors: Alvo Aabloo and Maarja Kruusmaa Institute of Technology, Univeristy of Tartu, Estonia

Deivid Pugal Koke 2005

SLIDE 2

The Task

To build electronics, motion control and sensor system for an environmental monitoring underwater vehicle.

Deivid Pugal Koke 2005

SLIDE 3

Deivid Pugal Koke 2005

The vehicle:

 is towed behind a boat  must know distance from the bottom  must control buoyancy  must control orientation  must be able to process measurement data

SLIDE 4

Deivid Pugal Koke 2005

Buoyancy Control

 The buoyancy and orientation

can be changed by controlling ballast tanks at both sides of the vehicle.

SLIDE 5

Deivid Pugal Koke 2005

Mechanical structure and Pneumatics

1-pressure equalizing valve 2-air inlet 3-input valves 4-output valves 5-rubber tanks 6-compressed air tank

SLIDE 6

Deivid Pugal Koke 2005

The solution

4-layer system of components:

 OMAP5912 (ARM + DSP)  MSP microprocessor  PIC microprocessors  Controllers

SLIDE 7

Deivid Pugal Koke 2005

Communication

OMAP OMAP

MSP MSP

Inclinometer Inclinometer compass compass

PICs PICs

Sonars? Sonars? Controllers Controllers for for steppers, steppers, valves, valves, vents and vents and etc. etc. I2c memory I2c memory

RS232 RS232 I2c I2c I2c I2c RS232 RS232

PWM outputs DC/servo

SLIDE 8

Deivid Pugal Koke 2005

Sonars

 At least 2 sonars needed  Are used for measuring distances from

the bottom of the sea

 Tried to modify SRF08 sonars -

unsuccessful

Srf08

SLIDE 9

Deivid Pugal Koke 2005

Servos

 Driven by PWM signals from MSP

processor

 For moving fins

SLIDE 10

Deivid Pugal Koke 2005

Valves

 Controlled by PIC processor  For buoyancy regulation

SLIDE 11

Deivid Pugal Koke 2005

Future work

 Finding appropriate sonars  Field tests and vehicle control algorithms.  Software for ARM+DSP processor

SLIDE 12

Deivid Pugal Koke 2005

Thank you

This work is supported by

 Environmental Investment Centre  Institute of Technology, University of Tartu  Netbell Ltd  Estonian Scientific Foundation