Design and construction of an underwater robot - utvarmo/tday-koke05/pugal-slides.pdf · Design and...
Transcript of Design and construction of an underwater robot - utvarmo/tday-koke05/pugal-slides.pdf · Design and...
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Design and construction of an underwater robotDeivid Pugal
Supervisors:Alvo Aabloo and Maarja Kruusmaa
Institute of Technology, Univeristy of Tartu, Estonia
Deivid Pugal Koke 2005
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The Task
To build electronics, motion control and sensor system for an environmentalmonitoring underwater vehicle.
Deivid Pugal Koke 2005
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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
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Buoyancy Control The buoyancy and orientation can be changed by controlling ballast tanks at both sides of the vehicle.
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Mechanical structure and Pneumatics
1-pressure equalizing valve 2-air inlet3-input valves4-output valves 5-rubber tanks6-compressed air tank
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Deivid Pugal Koke 2005
The solution4-layer system of components:
OMAP5912 (ARM + DSP) MSP microprocessor
PIC microprocessors
Controllers
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Deivid Pugal Koke 2005
Communication
OMAPOMAP MSPMSP
Inclinometer Inclinometer compasscompass
PICsPICs
Sonars?Sonars?
Controllers Controllers for for steppers, steppers, valves, valves, vents and vents and etc.etc.I2c memoryI2c memory
RS232RS232
I2cI2c
I2cI2cRS232RS232
PWM outputsDC/servo
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Sonars At least 2 sonars needed
Are used for measuring distances from the bottom of the sea
Tried to modify SRF08 sonars - unsuccessful
Srf08
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Deivid Pugal Koke 2005
Servos Driven by PWM signals from MSP
processor
For moving fins
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Deivid Pugal Koke 2005
Valves Controlled by PIC processor
For buoyancy regulation
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Future work Finding appropriate sonars
Field tests and vehicle control algorithms.
Software for ARM+DSP processor
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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