RoboSub 2017-2018 Jordan Lankford, Ryan Harty, Jake Hannafious, - - PowerPoint PPT Presentation

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RoboSub 2017-2018 Jordan Lankford, Ryan Harty, Jake Hannafious, - - PowerPoint PPT Presentation

RoboSub 2017-2018 Jordan Lankford, Ryan Harty, Jake Hannafious, Daniel Mansfield, Marta Camacho, Moeez Malik, Billy Phillips, Ross Dobitz, Oren Pierce, Jeremy Naeve, Nick Baron O2P/VIP Members: Kaitie Wood, Jake Harmon, Samual McCallum, Angel


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SLIDE 1

RoboSub 2017-2018

Jordan Lankford, Ryan Harty, Jake Hannafious, Daniel Mansfield, Marta Camacho, Moeez Malik, Billy Phillips, Ross Dobitz, Oren Pierce, Jeremy Naeve, Nick Baron O2P/VIP Members: Kaitie Wood, Jake Harmon, Samual McCallum, Angel Sanchez, Al Alothman

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SLIDE 2

Acknowledgements

  • Advising Professor: Dr. Anthony Maciejewski
  • Graduate Advisors: Christopher Robbiano, Megan Emmons
  • Industry Advisors: Dr. Jacob Sauer and Torie Hadel with Ball Aerospace

Distinctive Welding Inc.

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SLIDE 3

Budget and Finance

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SLIDE 4

What is the RoboSub Project?

  • Competition put on by the U.S. Navy and

Robonation at the TRANSDEC facility in San Diego California

  • Autonomous Underwater Vehicle (AUV)

must be fully autonomous

  • No communication with the AUV is allowed

during competition

  • All teams are required to build and design

the vehicle from the ground up

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SLIDE 5

Last Year

  • Project officially started last year
  • Researched parts
  • First chassis design
  • Thruster Testing
  • Began work on vision and sensor components
  • Propulsion & Power, Vision & Sensors, and Mechanical

Subteams

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SLIDE 6

This Year’s Team

  • Propulsion & Power, Vision & Sensors,

Mechanical, and Controls Subteams

  • 11 seniors and 5 underclassmen
  • Underclassmen perform testing and validation

role

  • Semester goal was to have the AUV in the water

and able to track a line

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SLIDE 7

Mechanical Subteam

Ryan Harty Jake Hannafious Daniel Mansfield

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SLIDE 8

What We Started With

  • Testing previous team’s design

○ Thermal generation and dissipation

■ Internal temperature reached hazardous levels

○ Forward and lateral hydrodynamic drag

■ Top speed was below acceptable levels

○ Mass and buoyancy measurements

■ Too heavy to compete when loaded to neutral buoyancy ■ (>160lbs, must be <125lbs)

○ Internal volume and electronics layout measurements

■ Electronics difficult to access and limited in space

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SLIDE 9

Where We Went from There

  • Fixed Points and Focus

○ Reduce buoyancy and mass ○ Hydrodynamics ○ Electronics layout and accessibility ○ Increase thermal dissipation

  • Improvements

○ Top speed increased ■ ~0.6m/s to >2m/s ○ Net buoyancy % reduced ■ ~67% to <15% ○ Dry weight reduced ■ ~110lbs to ~45lbs ○ Thermal Dissipation ■ No data yet, subjectively better

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SLIDE 10

Where We’re Going Next

  • CNC machining chassis v2
  • New arm to adapt to new challenges

○ Golf ball grabbing/dispensing ○ Golf ball storage/transport magazine ○ Packaged into fairings

  • Torpedo launcher

○ Accuracy improvements ○ Packaging into fairings

  • Ballast system

○ Reduce dry weight ○ Integrated mandatory safety system

  • Casting fairings for hydrodynamic improvement
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SLIDE 11

Testing Video

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SLIDE 12

Propulsion Subteam

Jordan Lankford Moeez Malik Marta Camacho

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SLIDE 13

Propulsion System Constraints

As per the Robosub Competition Rules:

  • AUV must be able to:

○ Sense and maneuver in the area using on board resources ○ Be battery powered with all batteries sealed

  • Open circuit voltage of any battery or battery system in the vehicle cannot

exceed 60V DC

  • All vehicles must contain a clearly marked kill switch that will remove power

to the motors and send AUV to surface

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SLIDE 14

2016 - 2017 Summary

  • Investigating Systems - What are other teams doing?
  • Major Part Selection

○ Motors ○ Electronic Speed Controllers (ESC) ○ Battery

  • Testing

○ Motor Load Testing: Heat up and power dissipation under load ○ Underwater Motor Testing ■ Outward thrust of motors and power dissipation

  • Design

○ Battery Management System (BMS) ○ Printed Circuit Board (PCB)

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SLIDE 15

Transfer of Knowledge - Continuing Tasks

  • Battery Management System

(BMS)

○ Design around the power requirements of the larger motors ○ Decided to change course due to lack

  • f need
  • Propulsion Controls and Feedback

○ Controls Subteam formation

  • Propulsion Drive

○ Motor actuation and chassis mobility CAD File of BMS Circuit Layout

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SLIDE 16

Propulsion System Design

Work that was done this semester

  • Part Modifications
  • Current Monitoring
  • Motor Control

○ Direct Control: PS2 Controller ○ Indirect Control: Arduino + Pi interfacing

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SLIDE 17

Part Modifications

HobbyKing 60A ESC HobbyKing 30A ESC

UAV Brushless Motor: Max Power 430 Watts

T200 Thruster: Fwd Max: 11 lbs Bkwd: 9 lbs 2016/17 Thruster: Max Fwd/Bkwd: about 5 lbs

M200: Max Power 350 Watts

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SLIDE 18

Current Monitoring

  • Hall Effect sensors will sense the

amount of current drawn by the motors

  • Enable the Arduino to alert the

Raspberry Pi to reduce the thrust to prevent the battery from draining too quickly

ACS712 Hall Effect Sensor

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SLIDE 19

Motor Control

Direct and Indirect

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SLIDE 20

Direct Control: Motor Control Testing with Gaming Controller

  • Control all 6 motors
  • Movements mapped to a specific

button

  • Ability to move forward/backward,

left/right, up/down

  • Roll, pitch, and yaw
  • Allows us to record current draw for

each motor as well as internal temperature

Play Station 2 Gaming Controller

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SLIDE 21

Indirect Motor Control - Arduino + Raspberry Pi

Arduino Mega- Slave controller that receives motor state and PWM values from a Master Controller so as to:

  • Attach/Detach motors from

power

  • Supply a PWM signal to each

motor dictating motor speed Master Controller

Motor State, PWM1,..,PWM6 Motors 1-6 PWM Power

Disarm (0) Arm (1) Error (2)

Error Clear Current Values

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SLIDE 22

Moving Forward…..

PCB Layout for Propulsion Systems... Raspberry Pi Arduino Mega Hall Effect Sensor

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SLIDE 23

Spring 2018 Main Goal

Complete onboard motor control and actuation with some sensor data, hall effects and Pi-Arduino communications

Look Ma, no hands!

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SLIDE 24

Sensors Subteam

Oren Pierce Ross Dobitz Billy Phillips

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SLIDE 25

There are five things the AUV needs to know 1. Current location 2. Depth 3. Desired location 4. Orientation 5. Audio signals

a. Next semester

Overview

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SLIDE 26

Sensors Hardware

Vision Processing, Primary Controller Nvidia Jetson TX2

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SLIDE 27

Sensors Hardware

GoPro Hero 4 Black Raspberry PiCam Cameras Raspberry Pi Pressure Transducer Precision A/D Converter Depth Measurement

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SLIDE 28

Inertial Measurement Unit (IMU)

Why use an IMU?

  • Keep the AUV’s balance

○ Crucial for correct movement

  • Feedback

○ Check to see if the commands to the motor are being executed

  • Dead reckoning
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SLIDE 29

Dead Reckoning

Knowing where you are relative to where you started How is this done?

  • Take in Accelerometer and Gyroscope data
  • Change the acceleration axis into a world view

○ Will not use magnetometers

  • From the corrected acceleration, we can get position

○ This is the hard part due to noise

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SLIDE 30

Vision - The Eyes of the AUV

  • Software

○ Language - Python ○ Operating System - Ubuntu 16.04 (Linux) ○ Image Processing - OPENCV ○ Code is developed on the same platform the AUV will be using

  • The Code Repository

○ All code is updated to the RoboSub GitHub ○ All code is documented with Doxygen ○ Used to ensure the code can be found and worked on by multiple programmers with ease

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SLIDE 31

Building an Object “Profile”

  • Object Classification

○ Certain attributes are used to describe an

  • bject

○ An object can be a buoy, target, line, etc.

  • Shape and Location Detection

○ What constitutes a shape? ○ How do humans know that a circle is a circle? ○ AUV uses Normalized Cross-Correlation

  • Color Detection

○ To a computer, color is defined on an RGB scale ○ The average color of the object is found from the frame returned by cross-correlation Circle Environment

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SLIDE 32

What is Next for Vision

  • Functionality for Multiple Object Types

○ Once code is fully functional for buoys, modify to include lines, targets, gates, etc.

  • Add Recursion

○ Current code processes only one frame ○ Code will be modified to process images taken by the camera at a certain frame rate

  • Tracking and Updating Objects

○ As the AUV moves, the average color and location of an object will change ○ Has an object already been identified? ○ How many different objects are in a frame at

  • nce
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SLIDE 33

The Role of Computer Vision

  • Since the cameras and image

processing units are making decisions, they have a job

  • Controls tells Vision what information

we need to find and return to them

  • Vision carries out their task and returns

feedback to controls

  • Think of Controls as the Captain of a

Ship and Vision as a Forward Observer

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SLIDE 34

Controls

  • Control System Constraints

○ How does everything fit together

  • Goals
  • Current Work

○ How to implement our Sensors ○ How we control the AUV

  • Next Semester

Jeremy Naeve Nick Baron

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SLIDE 35

Overview

  • Controls wasn’t a part of the previous year project
  • Became a subteam this year because of progress made last year in both

sensors and propulsion

  • Necessity as controls will tie everything together in the sub
  • Lots of coding necessary
  • Have to have a functioning knowledge of both other subteams
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SLIDE 36

Goals

  • Collaborate with sensor to develop an interface for communicating

information between AUV systems

  • Design autonomous control hierarchy to streamline information transfer

between sub team systems

  • Work with propulsion to reliably control the motors
  • Begin development of basic automatic control systems.
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SLIDE 37

Control System Constraints

  • We had to create the structure for the team
  • There was a need to define all the intercommunications of the AUVs

systems

  • Where does controls go?

○ We are working on raspberry pi for now ○ There is a transition to a main processing unit ○ The control board (Jetson TX2) will be the “brain” of the system

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SLIDE 38

Current Work

  • Design a robust control system to help meet the requirements of

competition

○ Vision ■ Cameras ○ Vehicle Control ■ IMU ■ Pressure Transducers ■ Stabilization

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SLIDE 39

Implementation of Sensors

  • Overall hierarchy of sensors systems

○ IMU - depending on accuracy after conducting underwater testing ○ Cameras ■ Identification of competition targets ■ Used to “zero” our current direction ○ Pressure Transducer ■ Should be able to accurately measure depth ■ Should be able to help account for drift of the sub

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SLIDE 40

How we control the AUV

  • Through serial connections we will connect sensors and propulsion
  • Using feedback loops and input analysis

○ Know where we are in the process ○ Know what tasks we still need to accomplish ○ Know when the tasks are completed and to return “home”

  • Complications so far

○ Identification of multiple targets ○ Decision making algorithms

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SLIDE 41

Next Semester

  • Integrate sensors systems with autonomous control
  • Generate reliable method of autonomous control
  • Get the vehicle in the water running on its own

○ Pool testing ○ Set up a course in Horsetooth Reservoir and dive with the sub

  • Test early - test often

○ As the subteams complete their tasks, we will need to test the integration of these systems ○ Develop good testbench setup

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SLIDE 42

Conclusion

  • Continuation project with the end goal of

competing in the RoboSub competition

  • Mechanical

○ New AUV ○ Continued testing ○ Development of competition implements

  • Propulsion

○ New thrusters ○ More efficient system ○ Hall effects ○ Continue towards complete autonomy

  • Sensors

○ Decisions made on hardware ○ IMU ○ Vision

  • Controls

○ Subteam integration ○ Robust control system ○ Just keep coding

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SLIDE 43

Questions?