MIDN 1/C Hansen, MIDN 1/C Fincher, MIDN 1/C Keith, MIDN 1/C Noyola, MIDN 1/C Topp Advisor: CAPT Nicholson, USN

Problem Statement To design an autonomous underwater vehicle to compete in the annual Association of Unmanned Vehicle Systems International and Office of Naval Research AUV competition in San Diego.

Background  Competition 6 th year competing Placed highly in recent competitions  Current Strengths Navigation by dead reckoning using DVL  Current Weaknesses No mission devices (grabber, launcher, etc.) Sensors are not fully integrated

Competition 15 th Annual Robosub Competition This year’s theme: The Ides of March Consists of a series of underwater obstacles Points awarded for completion of obstacles (partial credit discretionary) It is not required that you attempt every obstacle

ResearchResearch Other Team Projects (Top Three) 1)Team Sonia ETS 2)Cornell 3)University of Florida Experience of former team members and our advisor

Reused PartsQuantityCostTotal SeaCon Conectors11 $ 110 $ Wireless Network Components $ Daylight Readable Laptops2 $ 3, $ 6, Keller America Leverage Pressure Sensor1 $ Technodyne Model 300 Thrusters6 $ 2, $ 16, NiMH Batteries6 $ $ ALP-365 Acoustic Locator Flexi-Pinger1 $ Teledyne DVL1 $ 28, Filter and A/D Board4 $ $ Multi-Current Smart Charger4 $ $ Underwater Switch for Divers1 $ Reused PartsQuantityCostTotal PNI TCM2.6 Compass2 $ 1, $ 3, Router2 $ $ Buoy and Tether1$ 30 COGNEX IS5400-C Color Sensor2 $ 7, $ 14, IS Right Angle Ethernet Cable4 $ $ IS Right Angle Power Cable4 $ $ Power Distribution Circuit4 $ $ Power Circuit Parts $ Xbee Pro 60mW series2 $ $ Total Old Materials (estimate)$75,000 Parts List

New PartsQuantityCostTotal Wires $ Caswell 1/8” Stainless Shafts5$ 2.75$ Caswell Rotary Seals12$ 2.00$ Dropper System$ 10 New SeaCon Connectors 2$ x1 $ x1 $ Pelican 1120 Case 1$ 25 Pelican 1450 Case1 $ Fiberglass (Frame) $ 145 Torpedo System$ 30 Parts List Total New Materials (estimate)$615 Total Materials (estimate)$75,615

Functiona l Block Diagram

Demonstration Plan  Follow Path Navigate with Dead Reckoning Implement cameras for primary navigation  Buoys Use cameras to identify correct buoy Use cameras to fine tune position  Gates Navigate through gates using Dead Reckoning Implement cameras for primary navigation  Bins Actuator triggered by the cameras Use the cameras to fine tune the position  PVC Pick up the PVC and surface Return PVC to original position and resurface  Surfacing through Octagon Utilize SONAR (passive) to identify correct octagon Utilize SONAR (passive) to navigate to correct octagon

Responsibility Breakdown CamerasCodeSONARFrameActuatorsWiring FincherP HansenSPSP KeithP NoyolaSPS ToppSP Key: P = Primary S = Secondary

Frame and Actuators MIDN 1/C Hansen MIDN 1/C Noyola

Increase adaptability Allow more room for actuators Allow for future modifications Frame Design

Figure 1: Pin design Figure 2: Wheel design Figure 3: Target to be picked up Grabber Design

Figure 5: Torperdo launcher Figure 4: Torpedo targets Torpedo Design

Figure 6: Dropper designFigure 7: Dropper targets (Bins) Dropper Design

Wiring MIDN 1/C Hansen

Wiring Example *Kill Switch Board* Kill Switch Relay Kill Switch Power To Camera Box Light (#5) Thrusters (wire #1 from each) Stbd Aft Down Fwd Down Port

Wiring Example

Software MIDN 1/C Topp

Programmed in C & run in Linux In the past, the groups have relied heavily on waypoint navigation. –Essentially, the groups would enter a specific point based on the fix of the vehicle & would have the vehicle navigate to the point. Previous groups have attempted to use camera navigation but have been unsuccessful. Our goal is to successfully implement camera vision into our system navigation. Background: Navigation

Essentially, we use a shared memory function to store all of the necessary variables –This allows variables to be called up in several different programs & be stored to one common function. Ex: In the “maneuver.c” program, there is a switch function based on case numbers –case 0 = maintain position –case 1 = waypoint navigation –case 2 = camera navigation –case 3 = SONAR navigation In the “forward camera.c” program, if a buoy or a bin is detected, the following line of code is executed: –shm_struc->positionControlMode = 2; This stores “2” as the positionControlMode variable through the shared memory function. This variable can then be recalled in the “maneuver.c” program, activating camera navigation. Basics of the Code

Historically, this has been the most reliable method of navigation for the vehicle. Takes a reading from the DVL (using compass and speed over ground) and navigates the AUV to the desired waypoint. Will use this for most obstacles except the buoy and bins obstacle. Waypoint Navigation

The officials will release a certain order of colors to hit. A menu pops up prompting the user to choose a color. The choice of color stores variables xRed, yRed, etc. Camera vision navigation is then implemented to navigate to desired buoy. Buoy Obstacle

The forward camera outputs a certain string of numbers: –1 = passing, 0= fail –[row, col] of the centroid of the detected object –Color as the equivalent integer to ascii character Red = 114 Green = 103 Yellow = 121 No Match = 78 Camera Vision: Basics

If the camera detects an object (output = 1) –shm_struc->positionControlMode = 2; which switches to camera vision navigation –We then read the x coordinate for the centroid and store it in variable xRed/xGreen/xYellow –The depth of the object is given at the competition, so it will be preprogrammed into the system. –We then calculated the pixels/degree of the camera # columns = 640 FOV = 15° Pixels/degree = # columns/FOV Pixels/degree = 42.7 pixels/1 degree Camera Vision Pseudocode Example

We then implemented the following line of code: –shm_struc->ord_head = 42.7/xRed; This line takes pixels per degree and divides it by the pixel position of the object The output ord_head is a degree value to be implemented in the camera vision navigation portion of the code. This portion of coding simply orders Romulus to navigate to the ordered heading. Camera Vision Navigation Logic

Camera Vision Navigation After the camera hits the correct buoy, it switches back to waypoint navigation to move on to the next obstacle.

I have added a “timeout” feature to the code. Essentially, if the robot has switched to camera navigation, after 1 minute of not finding a buoy or a bin it will switch back to waypoint navigation. Camera Vision: Fail Check

This uses essentially the same logic as buoys but instead of color, the downward camera will output variables corresponding to shapes. The code will then execute the appropriate sequence in order to drop the projectile into the correct bin. Bins

Cameras MIDN 1/C Fincher

Cameras Cognex 5400C Onboard processing In-Sight Explorer software C-mount lens

Buoys Forward camera Find curved edge first Find color next –Bank of three colors Pass depends on both fixtures Trouble with thresholding

Bins Downward camera PatMax Thresholding –Contrast –Rotation –Scale

SONAR MIDN 1/C Keith

Competition Requirements ORE Multi-Beacon SONAR Operation Basics –Four Omni-Directional Hydrophone’s –Data Processing Circuit –Code Passive SONAR

Two 9’ diameter octagon shaped surfacing areas One of the pinger’s is turned on before each competition run Goal is to surface completely inside the correct Octagon Practice and Competition Pinger going at the same time SONAR & The Competition

Transponder/Responder modes Same ‘pinger’ used in the competition Set to frequency between 22kHz and 30kHz Requires Driving Mechanism ORE 4330B Multi-Beacon

Multi-Beacon Circuit

Reson TC4013 omni-directional hydrophone Output…. Hydrophones

SONAR Data Processing Circuit AD605 Variable Gain Amplifier Multiple feedback active band pass filter Voltage Divider and Comparator with Hysteresis Digital Signal processing microcontroller Three simultaneous outputs RS232 UART Serial Peripheral Bus (SPI) 64K Serial Memory 10-Bit Quad DAC

Written in C Two programs –Sonar.c program gets the Azimuth, Elevation, Status, and tells which pinger is being detected –Navigationcenter.c filters multiple sensor data to determine most likely position SONAR Code

Special Thanks to Project Advisor Captain Nicholson, USN Systems TSD Rickover Machine Shop Rickover Hydro Lab