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 sensor system for an environmental monitoring underwater vehicle. 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 Deivid Pugal Koke 2005
Buoyancy Control The buoyancy and orientation can be changed by controlling ballast tanks at both sides of the vehicle. 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 Deivid Pugal Koke 2005
The solution 4-layer system of components: OMAP 5912 (ARM + DSP) MSP microprocessor PIC microprocessors Controllers Deivid Pugal Koke 2005
Communication Inclinometer Inclinometer compass compass Sonars? Sonars? RS232 RS232 Controllers Controllers I2c I2c RS232 RS232 OMAP OMAP MSP MSP for for PICs PICs steppers, steppers, valves, I2c valves, I2c vents and vents and I2c memory I2c memory etc. etc. PWM outputs DC/servo 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 - Srf08 unsuccessful Deivid Pugal Koke 2005
Servos Driven by PWM signals from MSP processor For moving fins Deivid Pugal Koke 2005
Valves Controlled by PIC processor For buoyancy regulation Deivid Pugal Koke 2005
Future work Finding appropriate sonars Field tests and vehicle control algorithms . Software for ARM+DSP processor 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 Deivid Pugal Koke 2005
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