11

Design and Development of an Design and Development of an Autonomous Underwater RobotAutonomous Underwater Robot

“CHALAWAN”“CHALAWAN”

By Dr.Theerayuth ChatchanayuenyongBy Dr.Theerayuth Chatchanayuenyong

22

33

1.Statement of the Problem1.Statement of the ProblemWater cover about 2/3 of

the earth

About 37% of the world’s population lives within 100 km of the water resources

Water contains vast biological

and mineralogical resources

They must be investigated and understood to be developed and properly protected

Underwater robot help…• better understand water and environment• protect the resources from pollution and

efficient utilize them for human welfare

ปั�ญหาหรื�อโอกาส

44

Most commercial unmanned underwater robots are tethered and remotely operated (ROV)

Very high operational costs, operator fatigue, safety issues

Solution:Autonomous Underwater Robot

To achieve the above mentioned autonomy…• open-frame underwater robot equipped with various sensors• Advanced underwater robot control system

Reliable and robust operation autonomous underwater robot

55

2. Literature Review2. Literature Review

2.1 Autonomous Underwater Robot Design and Development

Nowadays, there are more than 46 AUV models

Some developed AUV in 1990s, configuration, potential applications and various subsystem in literature are summarized in Table 2.1 – 2.3

ศึ กษากลั่��นกรืองโอกาสความส�าเรื�จ

66

Table 2.1 Development of Autonomous Underwater Vehicles (AUVs) in 1990s

YearYearVehicleVehicle PurposePurpose

Depth Depth (m)(m)

DeveloperDeveloper

19901990 UROV-2000UROV-2000 Bottom surveyBottom survey 20002000 JAMSTEC, Yokosuka, JapanJAMSTEC, Yokosuka, Japan

19901990 No NameNo Name Testbed precise control vehicleTestbed precise control vehicle 1010 JAMSTEC, Yokosuka, JapanJAMSTEC, Yokosuka, Japan

19901990 MusakuMusaku Testbed precise control vehicleTestbed precise control vehicle 1010 JAMSTEC, Yokosuka, JapanJAMSTEC, Yokosuka, Japan

19901990 UUV (II)UUV (II) TestbedTestbed NANA Draper Laboratory, Cambridge, MADraper Laboratory, Cambridge, MA

19911991 AROVAROV Search and mappingSearch and mapping NANA SUTEC, Linkoping, SwedenSUTEC, Linkoping, Sweden

19921992 AE1000AE1000 Cable inspectionCable inspection 10001000 KDD, JapanKDD, Japan

19921992 Twin BurgerTwin Burger TestbedTestbed 5050 US, University of Tokyo, Tokyo, JapanUS, University of Tokyo, Tokyo, Japan

19921992 ALBACALBAC Water columnWater column 300300 US, University of Tokyo, Tokyo, JapanUS, University of Tokyo, Tokyo, Japan

19921992 MAYMAY Mine countermeasuresMine countermeasures NANA DARPA, Washington, DCDARPA, Washington, DC

19921992 DoggieDoggie Bottom/sub-bottom surveyBottom/sub-bottom survey 60006000 Yard Ltd., Glasgow, ScotlandYard Ltd., Glasgow, Scotland

19921992 DolphinDolphin Water characteristics monitoringWater characteristics monitoring 60006000 Yard Ltd., Glasgow, ScotlandYard Ltd., Glasgow, Scotland

19921992 ABEABE Bottom surveyBottom survey 60006000 WHOI, Woods Hole, MAWHOI, Woods Hole, MA

19921992 PhoenixPhoenix TestbedTestbed 1010Naval Postgraduate School, Monterey, Naval Postgraduate School, Monterey, CACA

19921992 ODINODIN TestbedTestbed 3030 ASL, University of Hawaii, Honolulu, HIASL, University of Hawaii, Honolulu, HI

19931993Ocean Ocean Voyager IIVoyager II

Science missionScience mission 60006000Florida Atlantic University, Boca Raton, Florida Atlantic University, Boca Raton, FLFL

19931993 Odyssey IIOdyssey II Science missionScience mission 60006000 MIT Sea Grant, Cambridge, MAMIT Sea Grant, Cambridge, MA

19931993 ARUSARUS Bottom surveyBottom survey NANA EUREKA (European Consortium)EUREKA (European Consortium)

19931993 ODASODAS SurveySurvey 900900 Marconi Underwater Systems, UKMarconi Underwater Systems, UK

19931993 HuginHugin SurveySurvey 600600Norwegian Defense Establishment, Norwegian Defense Establishment, NorwayNorway

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Table 2.1 Development of Autonomous Underwater Vehicles (AUVs) in 1990s (Continued)

YearYear VehicleVehicle PurposePurpose Depth (m)Depth (m) DeveloperDeveloper

19931993 MariusMarius SurveySurvey 6006001ST, Lisbon, Portugal (w/France and 1ST, Lisbon, Portugal (w/France and Denmark)Denmark)

19941994 Largc-D UUVLargc-D UUV Military/testbedMilitary/testbed 300300 Naval Undersea Warfare Center, Newport, RINaval Undersea Warfare Center, Newport, RI

19941994 OTTEROTTER TestbedTestbed 10001000 MBARI, CAMBARI, CA

19941994 ExplorerExplorer Pipeline inspectionPipeline inspection 10001000 Shenyang Institute of Automation, ChinaShenyang Institute of Automation, China

19951995 ODIN IIODIN II Shallow waterShallow water 3030 ASL, University of Hawaii, Honolulu, HIASL, University of Hawaii, Honolulu, HI

19951995 RlRl Bottom surveyBottom survey 400400 Mitsui Engineering, US, U. of Tokyo, JapanMitsui Engineering, US, U. of Tokyo, Japan

19951995 Autosub-1Autosub-1 Environmental monitoringEnvironmental monitoring 750750 Southampton Oceanography Centre, UKSouthampton Oceanography Centre, UK

19961996 TheseusTheseus Survey under Arctic sea-iceSurvey under Arctic sea-ice 10001000 ISE, CanadaISE, Canada

19971997 REMUSREMUS SurveySurvey 150150 Woods Hole Oceanographic Institution, MAWoods Hole Oceanographic Institution, MA

19971997 VORAMVORAM TestbedTestbed 200200Korea Research Inst. of Ships & Ocean Engr., Korea Research Inst. of Ships & Ocean Engr., KoreaKorea

19981998 Solar AUVSolar AUV TestbedTestbed N/AN/A Autonomous Undersea Systems Institute, NHAutonomous Undersea Systems Institute, NH

19981998 AUV-HM1AUV-HM1 TestbedTestbed N/AN/A National Taiwan University, TaiwanNational Taiwan University, Taiwan

19981998 AMPSAMPS MilitaryMilitary 200200 Pacific Missile Range Facility, Kekaha, HIPacific Missile Range Facility, Kekaha, HI

19981998 SIRENESIRENE Undersea shuttleUndersea shuttle 40004000DESIBEL, European project led by DESIBEL, European project led by IFREMER, FranceIFREMER, France

19991999 SAUVIMSAUVIM Military/scientific interventionMilitary/scientific intervention 60006000 ASL, University of Hawaii, Honolulu, HIASL, University of Hawaii, Honolulu, HI

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Table 2.2 Configuration of Some Existing Autonomous Underwater Vehicles

AUVYear

Operating syste

m

Main CPU

Other processors

Power Thrusters Sensory system Remarks

AE 1000 KDD, Japan

1992

V x Works

VME MC68040/4M

3 DSP + image processor

Lead-acid 3AC magnetometers; camera; VCR recorder; laser; obstacle avoidance sonar; Altimeter; depthometer; accelerometers; rate gyroscope; acoustic transponder; radio beacon, etc.

Max 2 knots 1,000 m depth

Phoenix NFS, USA

1992

OS-9

GESPAC MC68030/2M

Lead-acid gel

6 with 8 control fins

Datasonic PSA900 altitude sonar ST1000, ST725; collision avoidance sonar; Gyros

Max 1 knot 10m depth

ABE WHOI, USA

1992

OS-9

68CH11

T800; SAIL network

Lead-acid gel alkaline lithium

6 Fluxgate compass; magnetic heading; angular rate sensor2 knots 6,000 m depth

Ocean Voyager II FAU, USA

1993

V x Works

VME MC68030/8M

Neuron chips; LONTalk network

Lead-acid silver-zinc

1 with servo controlled rudder and stern plane

Watson 3 axis angle/rate; whisker sonar; sonic speedometer; pressure sensor; mosotech altitude; sonar; RF modem, etc.

Max 5 knots 600 m depth

Odyssey II MIT, USA

1993

OS-9

MC68030/8M

MC68HC11; SAIL network

Silver-zinc

1 with servo controlled rudder and elevator

Altimeter; temp, sensor; acoustic modem; obstacle avoidance sonar; Pinger, etc.

6,000 m depth

OTTER MBARI,USA

1994

Vx Works

MVME167 (68040)

MVME167; NDDS protocol

Nickel-cadmium

8Stereo CCD; fluxgate compass 2-axis inclinometer; motionpak 3-axis angle/rate; pressure sensor; sharp sonic ranging and positioning system

Max. 4 knots 1,000m depth 1 mechanical arm

ODIN 11 UH,USA

1995

V x Works

VME MC68040

Lead-acid 8Pressure sensor; Watson 3-axis angle/rate sensor; Kaiyo sonic ranging and positioning system

Max. 2 knots30 m depth 1 mechanical arm

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Table 2.3 Subsystem of Autonomous Underwater Robots

Systems Subsystems Needs/requirements Methods/models

Mission Sensors Long range information for detecting and inspecting a target of interest

Sonar

Planner Plans for the mission goals, unexpected events or system failures

Traditional planner

World modeling Set of models for the AUV system and its mission environment

Objective & subjective models

Data fusion Meaningful & correct information from massive data of multi-sensors

Analytic methods, AI

Computer Software Tools for developing computer codes for vehicle, support and simulation systems, fault-tolerance operation

System software, application software

Hardware Integration of electronic modules in a powerful, robust & flexible manner

System architecture, communication network, mass storage

Fault-tolerance Accommodation of hardware & software failures Redundancy design

Platform Hull Platform for mission package; depth & power requirements; stability; modularity for different mission parameters; materials; drag reduction

Steel, aluminum, titanium, composite, ceramic

Propulsion Navigation/stationkeeping

Power Power for propulsion, mission systems, & payload

Workpackage Tools for cutting, sampling, cleaning, marking, stabilization, docking, retrieval & launch

Manipulators

Emergency Initiating appropriate action in response to the abnormal vehicle condition and providing means for locating a disabled AUV

Emergency buoy, drop weight, flame smoke, beacon, water dye

1010

Table 2.3 Subsystem of Autonomous Underwater Robots (Continued)

Systems Subsystems Needs/requirements Methods/models

Vehicle sensor Navigation AUV position relative to a fixed coordinate system Acoustic, Doppler, fiber-optic gyro, GPS, inertia system

Obstacle avoidance system (OAS)Self-diagnostic

Detecting & avoiding obstacles: order of 50 m & order of 1 0 degreesMonitoring and evaluating the vehicle operational parameters for subsystem status

Acoustic, laserSensors for voltage, thruster rpm, speed sensor, leak, & temperature

Communication Transferring commands and data between a surface station and vehicles

Fiber-optics, acoustic, radio, laser

Development & support

Logistic support Organization, equipment, spares, repair & maintenance, documentation, etc.

Simulation Tools for testing the vehicle design and interface mechanism for the analysis of the vehicle operations

Stand-alone simulation, integrated simulation, hybrid simulation in the virtual environment

User interface Tools for displaying data, inputting command data Virtual reality device, joystick, 3D graphics

1111

Some different farings (shapes) of the Some different farings (shapes) of the AUVsAUVs

Figure 2.1 (a) The Kambara autonomous underwater vehicle developed at the Robotic Systems Lab, the Australian National University.

Figure 2.1 (b) Kambara degrees of freedom

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Figure 2.2 The Taipan Autonomous Underwater Vehicle developed by Laboratoire d’Informatique de Robotique et de Microelectronique de Montpelier (LIRMM – France)

1313

Figure 2.3 The AUV from Cornell University.

Figure 2.4 The ORCA-I Autonomous Underwater Vehicle developed at Massachusetts Institute of Technology (MIT)

1414

Nowadays, there are more than 46 developed AUV modelsin the world. For example…

KAMBARA – Robotics Systems Laboratory, Australian National University

OTTER – Monterey Bay Aquarium Research Institute (MBARI), CA

ORCA – Massachusetts Institute of Technology (MIT)

ODIN – ASL, University of Hawaii, Honolulu, HI

TWIN BURGER – ASL, University of Tokyo, Tokyo, Japan

CHALAWAN – SAT, Asian Institute of Technology, Thailand

and

1515

3.Design Philosophy and 3.Design Philosophy and PrinciplesPrinciples

ออกแบบผลั่�ตภั�ณฑ์#หรื�อรืะบบ

1616

ศึ กษาความเปั%นไปัได้(ของแบบผลั่�ตภั�ณฑ์#หรื�อรืะบบ

ScienceScience- Seafloor mapping- Seafloor mapping- Rapid response to oceanographic and geothermal - Rapid response to oceanographic and geothermal eventsevents- Geological sampling- Geological sampling

EnvironmentalEnvironmental - Long term monitoring (e.g. hydrocarbon spills, - Long term monitoring (e.g. hydrocarbon spills, radiation leakage, pollution)radiation leakage, pollution)

MilitaryMilitary - Shallow water mine search and disposal- Shallow water mine search and disposal- Submarine off-board sensor- Submarine off-board sensor

Ocean mining and oil Ocean mining and oil industryindustry

- Ocean survey and resource assessment- Ocean survey and resource assessment- Construction and maintenance of undersea structures- Construction and maintenance of undersea structures

Other applicationsOther applications - Ship hull inspection and ship tank internal inspection- Ship hull inspection and ship tank internal inspection- Nuclear power plant inspection- Nuclear power plant inspection- Underwater communication & power cables - Underwater communication & power cables installation and inspectioninstallation and inspection- Entertainment-underwater tours- Entertainment-underwater tours- Fisheries-underwater ranger- Fisheries-underwater ranger

ด้�านการตลาด้

1717

To be used as a testbed for shallow water research in underwater robot autonomy.

Simple low cost open-frame design.

Flexible hardware and software framework.

Operate in six-degree of freedom: roll, pitch, yaw, surge, sway and heave.

ด้�านเทคน�ค

1818

The robot mechanical body after assembling

The robot mechanical body

before assembling

1919

CHALAWAN’s Coordinate (X, Y, Z) and Orientation (, , ) System.

2020

Budget 1million Baht

Mechanical Engineering โครืงสรื(างทางกลั่ของห+,นยนต#

Electrical Engineering รืะบบไฟฟ/า การืเชื่��อมต,อรืะหว,างต�วควบค+มก�บต�วข�บ

Computer Engineering โปัรืแกรืมคอมพิ�วเตอรื#

ด้�านการเงิ�น

ด้�านการจั�ด้การ

Control Engineering รืะบบควบค+ม

2121

• Pictures of the Under-Assembling RobotPictures of the Under-Assembling Robot

The robot’s side view

The robot’s front view

ด้�าเน�นการืผลั่�ต

2222

Sensor, motor driver and batteries

installation

Open-gasket front view of the robot

2323

Mechanical SystemsMechanical Systems Farings

Two dry compartment, 6” PVC pipe, 72 cm long, Al frame Two gasketed Al plates w/IP68 electrical plugs

IP68 waterproof

plugs

Rubber gasket

Fiber baseboard lock

ConnectorsBetween Al

plateand PVC pipe

2424

Upper compartment: processor, vertical gyro, compass and pressure sensor.

Computingsystems

Verticalgyro

Connectors

Magnetic

compass

Pressuresensor

2525

Lower compartment: power electronics driving the thrusters.

Thrusterdriver boards

Digital controlrelay on-off switches for the driver

boards

Protection

fuses

2626

Thrusters Six thrusters: Minnkota Classic 28, 12V electric trolling motors w/9” dia. Propellers, 28 pounds of thrust.

Motor Control Boards

Six MCIPC-12 control boards from Diverse Electronics Services, 30A rated at 12V, analog voltage i/p, PWM o/p

2727

Sensor SystemsSensor Systems Inertial Measurement Unit

Solid-state vertical gyro VG400cc-200 from Crossbow Technology, inc.: roll/pitch angle, roll/pitch/yaw angular rates and three-axis linear accelerations.

Compass Module KVH C100 compass from KVH-Industrial: yaw angle (heading).

Sonar Altimeter Height from the water bottom is measured using a low cost wide beam underwater ultrasonic transceiver, HE123TR from Hexamite.

2828

Depth Sensor The AUR depth can be inferred from hydrostatic pressure measurements from a pressure transducer.

Pressure sensor

PX203-050A10V general purpose pressure transducer: 1-11 V analog output, 50 psi absolute, 0.25% FS accuracy, 8.8 cm depth measuring resolution.

2929

Computing SystemsComputing Systems Main Processor

Standard PC/104 processor module: PCM-3350, 300 MHz, 128 MB SDRAM, 128 MB hard disk from Advantech.

A/D Converter Board

PCM-3718HG from Advantech: 16 single-ended inputs, 12 bits resolution, 100 kS/s vertical gyro (8 chs), compass (1 ch), pressure sensor (1 ch), sonar altimeter (1 ch), battery voltage (1 ch) and spares (4 chs)

D/A Converter Board RMM-8XT from Diamond Systems Corporation: 12 bits, 8 D/A channels six brushed DC motors.

3030

Power Power SystemsSystems Two water-proof battery boxes on-board, each

contains two 12V 12Ah sealed lead acid batteries, providing 576W

Battery packs in the waterproof boxes

Waterproofboxes

Batteries

Rubber seal

DC/DC

+5V,30W

DC/DC

+15V,5W

DC/DC

+12V,10W

4x12V,12Ahsealed lead

acid batteries

Forcomputing

system

For sensor and thrusterdriver electronics

Forthrustermotor

An overall power distribution schematic diagram

3131

The Overall System Configuration of the The Overall System Configuration of the RobotRobot

PC/104CPU Module

PC/104A/D Board

PC/104D/A Board

PressureTransducer

VerticalGyroscope

CompassTransducer

SonarAltimeter

Batteries

MotorController

MotorController

MotorController

MotorController

MotorController

MotorController

ISA Bus ISA Bus

1 Channel 8 Channels

Spares

1 Channel 1 Channel 1 Channel 4 Channels 6 Channels

Thrusters

Surface HostComputer

Laptop

tether(Ethernet)

OptionalI/O

Depth (Z) Depth (Z)Yaw angle(Heading)

X-axis accelerationY-axis accelerationZ-axis accelerationRoll angular ratePitch angular rateYaw angular rate

Roll anglePitch angle

Water Surface

Overall Robot Assembling

3232

Software Software ArchitectureArchitecture

Flexible and easy to modify - sensor sampling module- Robot control module- Thruster control module

Real time control scheme- clock-driven task

real- time system

The overall software architecture

3333

Robot HeadingRobot HeadingFeedback ControlFeedback Control

PID Heading Control Block Diagram

3434

Overall assembling

Plugs from thrusters and

batteriesThe robot during

moved into the test tank

3535

The robot in the test tank

3636