"Isaac Peral y Caballero" RoboSub Brochure(2012)

ROBOSUBIsaac Peral yCaballero

Future VehiclesEntrepreneurs


FuVeFuture Vehicles and Entrepreneurs

FUVE association borns from the desire of innovation andentrepreneurship. Formed by 20 students from different universitiesand specialties we will work to develop technological projects for

the XXI century. Our mission is to provide a platform for develop

ideas that can make a difference in the future. Currently ourgoals are focused on the development of an automated andautonomous submarine capable of performing tasks in the marine

environment. We have applied much effort and enthusiasm, alongwith all the help we have received from our sponsors, but it is stillnot enough, we need a final push to make this submarine a reality.


Ending 2010, an student of the E.T.S.I.Navales (Universidad Politécnica de Madrid)who worked for the same university, foundout that the Michigan University had takenpart in the Roboboat championship.That was how he found out theAUVSI(Association for Unmanned VehicleInternational) where he learned aboutdifferent interuniversity challenges includingthose from the design to the construction ofRobotic Vessels, Robotic Submarines(ROVs)y Robotic Aircraft (UAVs).

Our association was forged from the smallidea of taking part in a championship andnow it is able to afford different technologicalprojects. It will allow us to complete ouruniversity learning and at the same time,we will be capable of innovating andcontributing with improvements to oursociety.

HistoryWe are a group of students from differentuniversities and subjects of study: navalengineering, aerospace engineering, electronics,software, marketing, etc.

We want to design and build innovativetechnological projects that could be useful tothe industry, the armies and navies and thesociety.

FUVE team.

FuVeFuture Vehicles and Entrepreneurs


ROBOSUB 2012Isaac Peral y Caballero

PropulsionWe are using jet propulsion with twowater pumps that take water from thebottom of the submarine. The waterjet is redistributed by the valves that propelthe device.

SoftwareWe have considered the following designaspects: methods accepted by theEuropean framework with real timeoperation JDErobot 5.0 platform,programming language C/C++ and highlevel processes operating systems: Ubuntu10.04.3 TLS custom C/C++, JDErobot5.0,The player project (Gazebo 0.9), GTK +library, Library OpenGL, OpenCV, Matlaband CUDA.

ROBOSUB ISAAC PERAL Y CABALLERO

INERTIAL NAVIGATION SYSTEMS

Provides position, course and attitudeinformation in real time.

ROBOSUB ISAAC PERAL Y CABALLEROElectronics and Sensors

CENTRAL CONTROL SYSTEMRuns IA and Control System Mission andGoals.

SENSOR FUSION SYSTEMSProcess information from all sensor ofthe submarine including StereoscopicVision System.

STEREOSCOPIC VISION SYSTEMSProcess information of two high definitionCCD cameras: a ventral one and a frontone.



DEPTH GAUGE

Provides information regarding the depthand temperature at which the submarineis in real time.

Start & KILL SWITCH SYSTEM

It switches off the engines and propellerspower unit to its activation. When it isdisabled, the central system should beable to resume the mission. It alsoprovides a button that tells the centralcontrol system that the mission shouldstart.

ROBOSUB ISAAC PERAL Y CABALLEROElectronics and Sensors

PROPULSION CONTROL SYSTEM

Determine and control motors and flowcontrol valves actuators power.

SMART TORPEDOES CONTROL SYSTEM

They schedule the torpedoes with thetarget coordinates and the best route toreach it. Once it is confirmed the schedulehas been received and stored by thetorpedo, the system launches it.

SMART TORPEDOES

They guide the torpedo to the targetcoordinates following the best route.

GRASPING SYSTEM

It controls the two mechanical arms whichare capable of holding an object andrestricting its mobility in 3 degrees offreedom.



FUTURE APPLICATIONS



Structure maintenance

The underwater vision system, combinedwith the robotic arm, is an inestimabletool for locating and repairing damagesin structures or hulls of large ships.

Underwater repairs

The integrated guidance system allowsthe submarine to track silhouettes on theseabed, such as underwater cables,pipelines... It can assist repair works.

Wrecks localization

The inertial navigation system, alongwith the depth gauge, makes thesubmarine an ally in the long searches inthe seabed.

Protection of convoys

The submarine is armed with twotorpedoes, guided by the same technologyused in the robot. It can be configuredto intercept torpedoes or to be a shieldfor the boats.

Underwater research

By sampling the ocean floor, followinganimals in their migration or mappingthe sandy seabed, it can makeoceanographic discoveries.

Coast Guard

The robot's onboard computer isconfigured to behave as a guard andwatch the coast. Once threats aredetected, it can provide live images ofthe target.

What do we need?



Economic resources

The "Universidad Politécnica de Madrid"provides us workshops and spaces to work.Nowadays our principal office is located inthe Technical School of Naval Engineers (ETSINavales).

The budget that we have to build the robotis due to the economic contributions of oursponsors. All our resources are intended tothe prototype production and managementof the association. The team members workas volunteers in order to achieve ourobjectives.

We try to minimize the cost of the project.We have decided to build all the componentsof the submarine and then assembled intothe frame, which has been also designed andbuilt by the team.

Anyway, our efforts would need moreresources.

Parts and Components

The project is so complex that sometimes it isimpossible to create our own components, so we areforced to resort to electronic suppliers and computercomponents.

Media support

Being students sometimes is hard to contact withcompanies and potential investors. That is why themedia is the perfect platform to introduce us and getmore support.

People with enthusiasm

Our team is composed of 20 students from differentuniversities and subjects of study. Both the projectand the association are open to new members whowant to offer their skills and enthusiasm.

COLLABORATIONS



Highlighted references inthe media

Presence at defense andt innovation events

Mentions in conferenceand symposiums

Logos on the official poloshirt

Logos in our corporativevideos

Presence at defense andinnovation events


Logos on the official poloshirt




Counterparts to sponsors

It is possible to collaborate with the association it three different ways with a differentrange of counterparties. Anyway, all the sponsors will have their own space in our website,in social networks, signage and merchandising, trade shows, events and projects. They willalso have entries in the project and association's scientific publications.

OUR PUBLIC RELATIONS



PressNews, interviews and reports in newspaper and tradepress (technology and economy).

RadioWe have given interviews in national and provincialmedia in which we have presented the project andmentioned the people involved.

InternetWe have got a strong presence in the Spanish speakingnetwork press.

FairsWe are going to participate in several fairs linked tothe defense sector. There, we will have our own spaceand give lectures.

SimposiumsThroughout the year, we will participate in severalevents. We will present our project and associationto different sectors of technology and innovation.


E.T.S.I. Navales - Aula Fuve-EArco de la Victoria Avenue

nº4 28040 MadridPhone: 0034 913363932

www.fuve-e.es

[email protected]

Documents

"Isaac Peral y Caballero" RoboSub Brochure(2012)