1. ENSIETA Autonomous vehicle SAUC’ISSE

2. 09/07/2009 - 2 > Content 1.Introduction 2.Technical design 1.Mechanical description 2.Embedded electronic architecture 3.Safety considerations 3.Craftsmanship 4.Conclusion SAUC’ Interval Super Submarine of Ensieta

3. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 3 Introduction

4. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 4 Introduction  Team members –Fabrice LE BARS (PhD Student) –Jan SLIWKA (PhD Student) –Alexandre KABIL (Undergraduate student) –Arnaud FERRE (Undergraduate student) –Luc JAULIN (Professor)

5. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 5 Technical design

6. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 6 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

7. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 7 Technical Design : Electronic Architecture

8. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 8 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

9. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 9 Craftsmanship

10. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 10 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

11. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 11 Conclusion

12. ENSIETA Autonomous vehicle SAUC’ISSE09/07/2009 - 12 Conclusion  SAUC’ISSE is a simple and robust robot with new and efficient methods