AUV ROBOSUB 2016-2017 - RoboSub Team Killickcsuauv.colostate.edu/wp-content/uploads/2016/12/Fall-2016... · AUV ROBOSUB 2016-2017 COLORADO STATE UNIVERSITY ... •Mitchell Yohanan

AUV ROBOSUB 2016-2017

COLORADO STATE UNIVERSITY

ELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT

SENIOR DESIGNFALL 2016

PRESENTATION OVERVIEW

1. Introduction to the team and project

2. Sub-team constraints and design

i. Mechanical

ii. Sensors

iii. Power and Propulsion

3. Summary with Q&A

2

Colorado State University, Electrical and Computer Engineering Department

TEAM MEMBERS

• Project Advisor• Dr. Anthony Maciejewski

• VIP Team Advisor• Olivera Notaros

• Senior Computer Engineer• Tyler Loughrey

• Senior Electrical Engineers• Brett Gonzales

• Chris McLean

• Phil Meister

• Senior Mechanical Engineers• Nate Marquez

• Seth Purkey

• Mitchell Yohanan

• Graduate Student Advisors• Megan Emmons

• Chris Robbiano

• Junior Team Members• Marta Camacho

• Oren Pierce

• Billy Phillips

• Freshman Team Members• Chris Alleman

• Ben Fox

• Katie Wood

• Prospective Senior Members• Ty Henningsen (EE)

• Jordan Lankford (EE)

3


TEAM ORGANIZATION

GSA GSA

Sub-team Members

Project Advisor

Team Lead

Sub-team Members Sub-team Members

Mechanical Lead Sensor Lead Propulsion Lead

4


PROJECT OVERVIEW

• Project Purpose

• Killick is a multi-disciplinary,

student-proposed senior

design project involving the

design, construction, and

testing of an autonomous

underwater vehicle (AUV)

based on the US Navy

RoboSub Competition

University of Florida

SubjuGator 8(SOURCE: http://subjugator.org/?page_id=2661)

Cornell University

Argo (Double Hull)(SOURCE: http://www.cuauv.org/vehicles.php)

5


COURSE LAYOUT

Scoring Metrics • Speed

• Accuracy

• Weight

6

Known Features• Depth control

• Path following


BUDGET AND FUNDRAISING

Item Cost

Motors $1800

Motor Control / MicroControl $1000

Power Supply $800

Sensors $2500

MISC $1000

Final Vehicle Chassis $1500

Prototype Vehicle Chassis $800

Mechanical Blunders $1000

Electrical Blunders $1300

Total $11,700

Sponsorships:• Ball Aerospace

• Hewlett Packard

• IEEE

Funds raised:• $16,600

7


PROJECT TIMELINE

• First Year Goals• Establish an operational platform for future

teams

• Restricted 1st year design

• Mechanical design and fabrication

• Inertial and image based sensing

• Propulsion

• Future teams to refine sensing, controls,

mechanical armature, and efficiency

• Gain practical engineering experience in

propulsion, control systems, vision, sensing

mechanical design/test, and team dynamics

• Estimated Project Timeline• September-December 2016

• Design and simulation, Test Rig

• Start build of Test Rig

• December-March 2017

• Rules release December 2016

• Design refinement, Final Rig

• Start build of Final Rig

• March-May 2017

• Design revision and additional testing

8


MECHANICAL OVERVIEW

• Chassis Design

• Electrical Housing

• Ballast System

9


CHASSIS

• Main purpose is to provide protection for the electrical housing and motors

• Modular design for mounting external motors

• Drag Force = 15.6 lb-f

Original Design Considerations: Box vs X-Wing

Current Design10


ELECTRICAL HOUSING

• Maintain a safe and dry environment for the internal electrical components

• Potential Shapes

• Half Cylinder, Half Capsule, Full Cylinder

• Overall volume directly affects buoyancy

• Material

• Transparency required

• Options: Acrylic, Clear PVC, Polycarbonate

Full Cylinder

Half Cylinder Half Capsule11


ELECTRICAL HOUSING CONT.

• Cap Design

• O-Ring for seal on detachable cap

• Main source of heat dissipation

• Thermodynamics

• Fans increase heat transfer rate

• Max internal temp of 70˚C

• Ease of access

Thermodynamics: Velocity Plot

Thermodynamics: Temperature Plot

12


BALLAST

• Achieve Neutral Buoyancy

• Volume of vessel determines dry land weight

• Current Upward Buoyant force: 95lbs

• Fail Safe

• Achieve positive buoyancy upon electrical failure

• Using a ‘balloon’ and mini CO2 Cartridge

13


MECHANICAL - FUTURE WORK

Testing/Validation

Re-Design

Manufacturing

14


PROCESS AND FLOW (ELECTRICAL)

Sensor Data (SD)

Processing (SPU)

Detect

Respond

Translate (MPU)

Locomotion

(MD+M)

Corr

ect

DecideDecision (MCU))

Terminology

SD – Sensor Device

SPU- Sensor Processing Unit

MCU – Master Control Unit

MPU – Motor Processing Unit

MD – Motor Driver

M - Motor

15


Filte

red

Ima

ges

Raw Images

Raw Sensor Data

SENSOR AND PROCESSING OVERVIEW

Pressure Transducers

Inertial Measurement

Unit (IMU)

Optical Devices (OD)

Sensor Processing

Unit (SPU)To MCUProcessed Sensor Data


Image Processing Unit

16

SENSORS

• Inertial Measurement Unit (IMU)

•Provides movement data for 3 orthogonal axes

•Accelerometer

•Gyroscope

•Magnetometer

•Needs filtering to reduce noise

•Pressure Transducers

•Differential Pressure

•Outputs voltage relative to underwater pressure

•Calibrated at top of waterSparton AHRS-8 IMU

Sparton

(SOURCE:

http://www.unmannedsystemstechnology.com/wp-

content/uploads/2012/07/sparton.jpg)


• Sensors Processing Unit

• Low Power consumption

•GPIO pins for sensors communication

17

PROGRESS


•Noise Reduction

•Signal-to-Noise Ratio (SNR)

•Filtering

Low SNR High SNR

•Research Issues

•Communication Protocols

•Python bit manipulation

18

IMAGE PROCESSING

• Cameras

•Provide raw images of guiding line on bottom of pool

•Able to extract these images in real-time

•Needs to be filtered to find position of vehicle

• Image Processing Unit

•Converts raw images to navigational data for the SPU

•Filters to find only the line of tape and its position relative to the

cameraAllied Mako G-234

Allied Vision

(SOURCE:

https://www.alliedvision.com/en/products/cameras/detail/Mako%20

G/G-234.html)

19


IMAGE PROCESSING PROGRESS

• Have developed multiple schemes to filter for the line before finding one that works

Original Test Image First Filtering Attempt

20


IMAGE PROCESSING PROGRESS CONTINUED

Image with Region of

Interest Identified

Final Filtered Image

21

SENSORS - FUTURE WORK

• Image Processing •Calculate position of line relative to whole

image

• Fine-tune filtering scheme for real-world

testing

•Master Control Unit (MCU)•Convert navigation data to usable data for

Motor Controller

• Inertial Measurement Unit (IMU)• Implement filtering schemes

•Calculate real position

•Sensors Processing Unit (SPU)•Combine pressure transducer and IMU

data to increase positional accuracy

•Communication protocols to MCU

22


OVERVIEW OF POWER AND PROPULSION

Control

Motor Driving

Power

IVP & Weight

Motors

Weight, Thrust, IVP & Size

23


INITIAL DESIGN CONSTRAINTS

• Power Supply

• Weigh << 5lbs each

• Power systems must be

calculated to size batteries

• Must have built in Battery

Management

• Must report to Master

Control unit for safety

reasons

• Motor Processing Unit

• Most likely digital signal

processor

• Cost should be ≈ $300-

800

• Must be able to control 6

motors independently

and in real-time

• Reinforces DSP

notion

• Motors

• “Small” motors

• Compact

• Easily mountable

• Weighs under 1lb per

motor

• Cost of motors ≤ $300/motor

• Must exceed torque

requirements for vehicle

• Can always use less but

only if available

24


MOTORS

WEIGHT

• 3 phase BLDC sensorless

• ~430 W

• ~770 Kv

• ~30 A

• ~16 V nominal

VOLTAGE, CURRENT, POWER

• Less weight = higher score

• Naked motor ( 0.16 lbs )

• Housing ( < .16 lbs)

THRUST

• Fluid Modeling 15.6 lb-f

• Thrust proportional to speed x effective area

• Effective area

proportional to torque

• 𝑇𝑀𝐴𝑋 = 𝐾𝐸 ∗ 𝐼𝑀𝐴𝑋

• 10 lb-f for 3 inch

propeller

TMotor UAV Brushless Motor MS2814 770Kv

(BLDC) Machinable Wax Blocks 2"

Thick25

POWER SUPPLY

WEIGHT

• Less weight = higher score

• LiPo ( < 2 lbs)

• IP68 housing

VOLTAGE, CURRENT, POWER CHARGER

• Middle of the road estimate

• 8 Ah @ 150 C (1200 Amp Burst)

• 4 S / 2 P (14.8 Volts nominal)

• Voltage taps at cell level for BMS

• 5C charge rate

iCharger 206B, Junsi P350 Power Supply

LiPo 8000 4S 14.8v Dual Core Battery Pack

• Built in BMS (for charging)

• 20 Amp/h charge rate

• 300 W supply

• Provides cell balancing

26


MOTOR CONTROLLER

DSP+ MCU

• Field-Oriented Control

• Best type of feedback

mechanism for BLDC

• Not implemented in 2016-

2017

VERTICAL INTEGRATION

• C2000 Piccolo F28069M MCU

• 24 PWM channels, 12-bit ADC, I2C, CAN2B, USB, UART, SPI

DEVELOPMENT BOARD

• Uses Code Composer Studio

and MotorWare

• No on board voltage

regulator

• Electronic speed control

multiplexes each PWM Signal

for 3 phase BLDC

Texas Instruments LAUNCHXL-F28069M 40A BlueSeries Brushless Speed Controller

27


POWER AND PROPULSION - FUTURE WORK

• Testing of Prototype

• Motor load testing

• IVP under various “modes”

• Design &Testing of a variety

of propellers and shrouds

• Thermodynamic Data

Collection

• Vetting of BMS

• In Final Phase

• PCB for BMS

• PCB for IMU

• PCB for Systems Integration

• Additional motors and PID

control development

28


SUMMARY

POWER AND PROPULSION

• Motors

• 14.8 V, 30 amp (max), 1 A no-

load

• Cheap and light but not

waterproof

• Power Supply

• LiPo 4S/2P 150 C 14.8 V

• Light but not cheap

• Motor Processing

• Vertical integration capability

SENSORS

• Chassis

• Protection

• Corrosion Resistance

• Modular Motor Placement

• Electrical Housing

• Clear PVC material

• Heat Dissipation

• Ease of Access

• Ballast

• Neutral Buoyancy

• Fail Safe

MECHANICAL

• IMU

• Movement Data

• Noise Reduction

• Pressure Transducers

• Depth Sensing

• SPU

• Processes Sensor Data

• Image Processing

• Filters Images

• Finds Position of Sub

29


PROJECT ASPECTS

• Propulsion• Motor size

• Motor power

• MCU

• Sensor power

• Temperature management

• Wire management

• Component choice

• RF design

• Wireless communication for

testing

• Motor control signaling

• Systems interfacing

• Risk/Failure management

• Functional indicators

• Mechanical • Chassis design

• SolidWorks model

• Electronics location

• Buoyancy

• Propulsion

• ANSYS model simulation

• Stress analysis

• Fluid dynamics

• Heat transfer

• Temperature management

• Material consideration

• Weight

• Rigidity

• Water tightness

• Corrosion resistance

• Risk/Failure management

•Manufacturing/ assembly logistics

• Material acquisition

• Sensor• MCU/CPU programming

• Language choice

• Programming environment

• Mode control

• Surface control for testing

• Algorithm implementation

• Signal implementation

• Sensor location/ selection

• Image processing

• Sensor processing

• Data logging

• Vehicle-Surface communication for

testing

• Systems interfacing

• Image analysis

• Data logging

30


BUDGET BREAKDOWN

• Motors $ 1800

• Primary RMCU $ 400

• Motor Microcontrollers $ 600

• Battery Power Supply $ 700

• Controller Power Supply $ 100

• Inertial Measurement Unit $1200

• Hydrophone System (HS) $ 800

• Test Rig $ 5500

• Electrical Tether $ 200

• Signal Amplifiers $ 100

• Underwater Cameras $ 400

• Connectors $ 500

• Gaskets $ 70

• Wires $ 200

• Mechanical Tether $ 30

31


Documents

AUV ROBOSUB 2016-2017 - RoboSub Team Killickcsuauv.colostate.edu/wp-content/uploads/2016/12/Fall-2016... · AUV ROBOSUB 2016-2017 COLORADO STATE UNIVERSITY ... •Mitchell Yohanan