Milestone #2 Project Proposal Group 4 Victoria Jefferson Reece Spencer Andy Jeanthanor Yanira Torres Kevin Miles Tadamitsu Byrne 1

Problem Statement Vehicle must operate autonomously Dimensions of AUV : 6ft x 3ft x 3ft Weight of AUV must be less that 110lbs Pressure rated for a depth of 16ft Complete specified tasks (not yet released) follow a marked path, maneuver through a gate, drop markers into a specified bin, locate a pinger, and grasp a rescue object Upon time expiration AUV should surface in designated area 2

Operating Environment Camp Transdec, CA Salt water pool AUV will be hoisted into the pool 15 minutes to complete all objectives Traverse a distance of 50ft AUV must have a 0.5% buoyancy 3

4 Solutions Approach

Statement of Work Tasks have been divided into five technical areas Micro processing and programming Propulsion System Vehicle design Competition components Sensors Power and electronics Each member in the group is given a specific technical focus area based on educational background as well as technical interests, knowledge, and/or experience 5

BeagleBoard 6

The BeagleBoard is an OMAP3530 platform Power: USB Power/DC Power Additional memory can be added (if necessary) A 6 in 1 SD/MMC connector is provided as a means for expansion and can support such devices as: Camera GPS modules miniSD cards 7

BeagleBoard 8

Micro processing & programming Microprocessor Takes the input from the different sensors, analyzes the data, and then sends output signals to the motors, claw, and marker dropper Software Program the ARM microcontroller C++ Joint Architecture for Unmanned Systems (JAUS) ARM Assembly Continuity (programming done in one computer language) 9

Micro processing & controlling C++ Decrease the complication of programming Increase the readability of the code JAUS Point bonus Opportunity to work with state of the art technology ARM assembly Ability to access the memory directly Work at a low-level programming stage 10

Computer Schedule 11

Computer Budget 12

Propulsion System 4 thrusters will control direction and depth Left and right thrusters control the turning as well as forward and reverse propulsion Front and back thrusters control depth Motor controllers Pulse width modulated output signal from microprocessor will be utilized to control the speed of the motor 13

Propulsion System Thruster Selection Seabotix SBT150 Built in motor controllers Provides sufficient thrust 14

Vehicle Design Hull Pelican box Water tight and large enough to house all electrical components Frame Must support and house all components 8020 (T-frame) Aluminum Easily adjustable Minimize cost 15

Vehicle Design 16

Vehicle Design 17

Competition Components Marker Dropper Use two magnets (permanent/electromagnet) Permanent magnet holds steel sphere Electromagnet cancels magnetic field Drop metallic sphere Mechanical Grabber Used to hoist a rescue object Design process not complete Scoop Array of claws 3 prong grabber 18

Competition Components 19

Sensors Camera Shape Recognition Color Recognition Webcam Charge Coupled Device (CCD) Excellent low light performance Housing Inertial Measurement Unit Stability control Data will be input into the microcontroller for data analysis 20

Sensors Hydrophone Locate fixed pinger 4 hydrophones, 2 parallel in the horizontal axis to determine direction, 2 parallel in the vertical axis to determine depth 21

22 Mechanical Schedule

Mechanical Budget 23

Power and Electronics Supply sufficient power electronics, sensors, additional components and four thrusters Identifying power required Thrusters have been chosen Electronics and sensors have to be finalized Additional components have to be finalized 2011 rules have not been released 24

Power and Electronics Battery Selection Thrusters Use two LiFePO 4 batteries in series Thrusters will be connected in parallel Thrusters can run for over one hour continuously Max current drawn by the entire circuit will be 21.2 Amps with Voltage of 28.1 V Microcontroller,Webcam,Hydrophones 5V, 5A battery using voltage/current regulators 25

Top-Level Design 26

Electrical Schedule 27

Electrical Budget 28

Risk Assessment Budget Miscalculations If budget is incorrectly estimated the treasurer is required to reevaluate all expenditures. reopen the parts/materials search process with the team and find cheaper parts to reduce expenses. required to begin searching for new sponsors in an attempt to raise more money. 29

Risk Assessment Critical Scheduling Issues If production is vastly behind schedule the project manager is tasked with evaluating team performance Every team member is required to work extra hours on weekends Sections of the design that are not critical may be eliminated Evaluate design to determine what to pursue and abandon 30

Risk Assessment Malfunctioning Parts Repair Warranty If the warranty holds the malfunctioning part will be returned in exchange for a working part If the budget allows, one spare part will be ordered for the important items when they are purchased Otherwise money will have to be raised to purchase replacement parts 31

Risk Assessment Loss of Team Member Sick, injured, or has departed Split additional work among the team The team member will be kept ‘in the know’ so that upon their return the team member can get back to work If the team member is unable to return the team will divide their part and ‘keep the ball rolling’ 32

Risk Assessment Requirements/Specifications Not Met Adjustment current design Reevaluate what can be accomplished Abandon components that are not required to qualify for the competition The team will have to adjust their goals and try to deliver a finished product The team will also lay the groundwork for the next team in meeting all requirements and specifications for the next competition 33

Risk Assessment Technological Issues Sensors Not communicating with the microcontroller correctly Reevaluate wired connections and programming Seek faculty assistance Exclude specific function until further notice Microcontroller Review specific software resulting in malfunction Rewrite and reintegrate software into main program Rewrite entire program 34

Risk Assessment Technological Issues Electronics All electronic equipment, connections and wires will be reviewed Any faulty equipment will be discarded and replaced The team will be required to provide extensive documentation as to why problems occurred and what can be done to prevent this problem for the next team working on the AUV 35

Deliverables Hardware Reports Project proposal Detailed design and test review Laboratory notebook Weekly meeting minutes AUVSI journal paper Schematic 36

References N/UploadedImages/AUV_Mission_Final_2010.pdf Team 4 Final Proposal BeagleBoard User Manual 37