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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
The Task
To build electronics, motion control and sensor system for an environmentalmonitoring underwater vehicle.
Deivid Pugal Koke 2005
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 inlet3-input valves4-output valves 5-rubber tanks6-compressed air tank
Deivid Pugal Koke 2005
The solution4-layer system of components:
OMAP5912 (ARM + DSP) MSP microprocessor
PIC microprocessors
Controllers
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
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 - unsuccessful
Srf08
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