Milestone #2 Project ProposalGroup 4Victoria Jefferson Reece SpencerAndy Jeanthanor Yanira TorresKevin Miles Tadamitsu Byrne

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Problem StatementVehicle must operate autonomouslyDimensions of AUV : 6ft x 3ft x 3ftWeight of AUV must be less that 110lbsPressure rated for a depth of 16ftComplete 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

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Operating Environment Camp Transdec, CA

Salt water poolAUV will be hoisted into

the pool15 minutes to complete all

objectivesTraverse a distance of 50ft

AUV must have a 0.5% buoyancy

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Solutions Approach

Statement of WorkTasks have been divided into five technical areas

Micro processing and programmingPropulsion SystemVehicle design

Competition componentsSensorsPower 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

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BeagleBoard

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BeagleBoardThe BeagleBoard is an OMAP3530 platformPower: USB Power/DC PowerAdditional 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:CameraGPS modulesminiSD cards

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BeagleBoard

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Micro processing & programmingMicroprocessor

Takes the input from the different sensors, analyzes the data, and then sends output signals to the motors, claw, and marker dropper

SoftwareProgram the ARM microcontroller

C++ Joint Architecture for Unmanned Systems (JAUS) ARM Assembly

Continuity (programming done in one computer language)

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Micro processing & controlling C++

Decrease the complication of programmingIncrease the readability of the code

JAUSPoint bonusOpportunity to work with state of the art technology

ARM assembly Ability to access the memory directlyWork at a low-level programming stage

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Computer Schedule

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Computer Budget

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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 depthMotor controllers

Pulse width modulated output signal from microprocessor will be utilized to control the speed of the motor

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Propulsion System Thruster SelectionSeabotix SBT150

Built in motor controllers Provides sufficient thrust

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Vehicle Design Hull

Pelican box Water tight and large enough to house all electrical components

FrameMust support and house all

components8020 (T-frame) Aluminum

Easily adjustable Minimize cost

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Vehicle Design

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Vehicle Design

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Competition ComponentsMarker Dropper

Use two magnets (permanent/electromagnet) Permanent magnet holds steel sphere Electromagnet cancels magnetic field Drop metallic sphere

Mechanical GrabberUsed to hoist a rescue object

Design process not complete Scoop Array of claws 3 prong grabber

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Competition Components

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Sensors Camera

Shape RecognitionColor RecognitionWebcam

Charge Coupled Device (CCD) Excellent low light performance

HousingInertial Measurement Unit

Stability control Data will be input into the microcontroller for data analysis

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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

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Mechanical Schedule

Mechanical Budget

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Power and ElectronicsSupply sufficient power

electronics, sensors, additional components and four thrusters

Identifying power requiredThrusters have been chosenElectronics and sensors have to be finalizedAdditional components have to be finalized

2011 rules have not been released

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Power and Electronics Battery SelectionThrusters

Use two LiFePO4 batteries in seriesThrusters will be connected in parallelThrusters can run for over one hour continuouslyMax current drawn by the entire circuit will be 21.2 Amps

with Voltage of 28.1 VMicrocontroller,Webcam,Hydrophones

5V, 5A battery using voltage/current regulators

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Top-Level Design

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Electrical Schedule

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Electrical Budget

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Risk AssessmentBudget 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.

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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

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Risk Assessment Malfunctioning Parts

RepairWarranty

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

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Risk AssessmentLoss of Team Member

Sick, injured, or has departedSplit additional work among the teamThe team member will be kept ‘in the know’ so that upon

their return the team member can get back to workIf the team member is unable to return the team will divide

their part and ‘keep the ball rolling’

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Risk Assessment Requirements/Specifications Not Met

Adjustment current designReevaluate what can be accomplishedAbandon components that are not required to qualify for

the competitionThe team will have to adjust their goals and try to deliver a

finished productThe team will also lay the groundwork for the next team in

meeting all requirements and specifications for the next competition

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Risk AssessmentTechnological IssuesSensors

Not communicating with the microcontroller correctly Reevaluate wired connections and programming

Seek faculty assistanceExclude specific function until further notice

Microcontroller Review specific software resulting in malfunctionRewrite and reintegrate software into main programRewrite entire program

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Risk AssessmentTechnological IssuesElectronics

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

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DeliverablesHardwareReports

Project proposalDetailed design and test reviewLaboratory notebookWeekly meeting minutesAUVSI journal paperSchematic

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Referenceshttp://www.auvsifoundation.org/AUVSI/

FOUNDATION/UploadedImages/AUV_Mission_Final_2010.pdf

Team 4 Final Proposal

BeagleBoard User Manual

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