ENSIETA Autonomous vehicle SAUC’ISSE

ENSIETA Autonomous vehicle SAUC’ISSE

09/07/2009 - 2ENSIETA Autonomous vehicle SAUC’ISSE

> Content1. Introduction

2. Technical design1. Mechanical description

2. Embedded electronic architecture

3. Safety considerations

3. Craftsmanship

4. Conclusion

SAUC’ Interval Super Submarine of Ensieta


Introduction


Introduction

Team members– Fabrice LE BARS (PhD Student)

– Jan SLIWKA (PhD Student)

– Alexandre KABIL (Undergraduate student)

– Arnaud FERRE (Undergraduate student)

– Luc JAULIN (Professor)


Technical design


Technical Design : Mechanical Description

Aluminium made– Amagnetism – Resistance to corrosion– Watertight

2 aluminium plates with waterproof connectors (3 screws per plate)

Resistance to pressure up to 10 meters Stable in rolling and pitching

– Keel– Easy to equilibrate

3 thrusters (2 horizontal and 1 vertical) 2 removable Plexiglas stages inside


Technical Design : Electronic Architecture


Technical Design : Safety

It is Red : easy to spot ! Easy emergency switching by a brake Thrusters protected Electronics protection

– No leak for 3 years– Aluminium tube

• Good heat conductor Natural cooling


Craftsmanship


Craftsmanship

Simple mission planning through text files– Robust– Permanent– Repeatable

Everything is done with sonar New set membership methods

– Interval constraint propagation Faster algorithms– Q-intersection Taking into account sonar outliers

Offline mapping from log file Simulator demonstration


Conclusion


Conclusion

SAUC’ISSE is a simple and robust robot with new and efficient methods

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ENSIETA Autonomous vehicle SAUC’ISSE