Progress Presentation of Autonomous Underwater Robots

This presentation showcases the progress made by a team in developing autonomous underwater robots at Bradley University. The project objectives include mapping underwater terrain, navigating a swarm of UAVs, obstacle avoidance, and generating final images. The presentation covers system block diagrams, original Gantt charts, tasks related to detection arrays, amplifier testing, circuit layout, and photodiode comparison results. Updates on the Gantt chart and circuit layout design are also discussed.

• Autonomous Underwater Robots
• Progress Presentation
• Bradley University
• Detection Array
• Circuit Layout

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1. Autonomous Underwater Robots Progress Presentation RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

2. Project Objectives Map underwater terrain Swarm of UAV s Avoid obstacles Generate final image 2

3. System Block Diagram 3

4. Original Gantt Chart Cameron Putz PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 0% Detection Array Simulation and Testing Circuit and System Layout 27 8 0% 0% Assemble and Test Single Submarine 34 Fall Progress Presentation Plan %Complete 4

5. Task 1: Detection Array Experiment Amplifier testing Amplifier Design Model of photodiode Everlight photodiode [2] Osram photodiode [1] 5 Transimpedance amplifier

6. Task 1: Detection Array Results Photodiode testing Osram photodiode [1] Everlight photodiode [2] Saturation 36 inches 4.9 Volts 4 inches 4.89 Volts Max Distance 180 inches 0.6 Volts 132 Inches -- 0.120 Volts Linearity Linear Non-Linear Ambient Light 100% Saturation 29% Saturation Price $8.85 $0.59 Photodiode comparison 6

7. Updated Gantt Chart Cameron Putz Task 2 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 100% Detection Array Simulation and Testing Circuit and System Layout 57 8 0% 0% Assemble and Test Single Submarine 34 Fall Progress Presentation Plan %Complete 7

8. Task 2: Circuit Layout Results Eagle 7.1.0 Dr. Driscoll has experience First iteration of the detection array surface mount board 8

9. Task 2: Circuit Layout Results Eagle 7.1.0 Still a lot to learn First library package Everlight photodiode First library symbol Everlight photodiode 9

10. Updated Gantt Chart Cameron Putz Future work PERCENT November December October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 25 27 2 4 9 11 16 18 23 25 30 2 7 9 14 16 21 23 28 30 100% Detection Array Simulation and Testing Circuit and System Layout 57 27 35% 0% Assemble and Test Single Submarine 43 Fall Progress Presentation Plan %Complete 10

11. Original Gantt Chart Ryan Lipski PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 0% Motor Control and Power Design 22 0% Detection Array Testing and Validation Directional Guidance Algorithm Design 15 21 0% 0% Single Submarine Testing 34 Fall Progress Presentation Plan %Complete 11

12. Updated Gantt Chart Ryan Lipski Task 1 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 0% Detection Array Testing and Validation Motor Control and Power Design 48 22 0% 0% Directional Guidance Algorithm Design 21 0% Single Submarine Testing 34 Fall Progress Presentation Plan %Complete 12

13. Task 1: Detection Array Experiment Bench top detection array Baffle configuration testing Baffle protrusion distance and LED distance experimented with LED swept from 0 to 180 while recording light intensity Baffle Photodiodes Baffle test setup 13

14. Task 1: Detection Array Results Bench top detection array Baffle configuration testing 12cm LED distance Detection zones Left vs right photodiode (5 mm baffle) 14

15. Task 1: Detection Array Experiment Additional related work Detection array testing/validation Assisted Cameron with testing different op-amp/photodiode combinations Both in lab testing and off campus/through water testing 15

16. Updated Gantt Chart Ryan Lipski Task 2 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 100% Detection Array Testing and Validation Motor Control and Power Design 48 31 0% 0% Directional Guidance Algorithm Design 21 0% Single Submarine Testing 34 Fall Progress Presentation Plan %Complete 16

17. Task 2: Motor Control and Power Design and Experiment 3 DC brushed motors (x, y, z configuration) Y motor highest current draw: 860 mA peak draw Recorded with only rear propeller submerged X and y motor feedback: IMU Z motor feedback: pressure sensor 17

18. Task 2: Motor Control and Power Design I2C h-bridge (DRV8830) Single channel, PWM controlled h-bridge 1 A, 2.75 - 6.8 V Cost: $2.44 Total cost per submarine: $2.44 * 3 = $7.32 18

19. Task 2: Motor Control and Power Design H-bridge and I2C PWM generator H-Bridge (SN754410) 1.1 A Cost: $2.57 I2C PWM generator (PCA9685) Cost: $2.47 Requires more PCB surface area Total cost per submarine: $2.57*2 + $2.47 = $7.61 19

20. Task 2: Motor Control and Power Design PID control All 3 motors in same interrupt control loop ECE467 PID code used as starting point Updated to work with the I2C h-bridge (DRV8830) 20

21. Task 2: Motor Control and Power Design Power 4 NIMH AA batteries 1.2 V per cell 2500 mAh Battery life estimation Estimated average current draw: 1770 mA Estimated run time: 1.4 hours 21

22. Updated Gantt Chart Ryan Lipski Task 3 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 100% Detection Array Testing and Validation Motor Control and Power Design 48 31 90% 0% Directional Guidance Algorithm Design 24 0% Single Submarine Testing 34 Fall Progress Presentation Plan %Complete 22

23. Task 3: Directional Guidance Algorithm Design Directional Guidance Flowchart 23

24. Updated Gantt Chart Ryan Lipski Future work PLAN START PLAN FINISH PERCENT November December October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 25 27 2 4 9 11 16 18 23 25 30 2 7 9 14 16 21 23 28 30 100% Detection Array Testing and Validation 10/2/2014 11/18/2014 Motor Control and Power Design 48 31 90% 10/16/2014 11/15/2014 20% Directional Guidance Algorithm Design 11/6/2014 11/29/2014 24 0% Single Submarine Testing 12/9/2014 1/22/2015 45 Fall Progress Presentation 24

25. Original Gantt Chart Nick Sikkema PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 0% Research Parts Multiplexer and Pressure Sensor 13 15 0% 0% Compass and Accelerometer 10 0% Directional Guidance Algorithm 21 0% Test Single Submarine 34 Fall Progress Presentation Plan %Complete 25

26. Task 1: Research Parts Research Microcontroller ADC Multiplexer (CD4051) Atmega328P Atmega328P breakout board [3] 26

27. Task 1: Research Parts Research Pressure sensor Package Gauge vs absolute MPAK package [4] Unibody package [4] 27

28. Updated Gantt Chart Nick Sikkema Task 2 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 95% Research Parts Multiplexer and Pressure Sensor 55 15 0% 0% Compass and Accelerometer 10 0% Directional Guidance Algorithm 21 0% Test Single Submarine 34 Fall Progress Presentation Plan %Complete 28

29. Task 2: Multiplexer and Pressure Design and Experiment 8 to 1 multiplexer (CD4051) Pressure sensor (MPX53GP) Differential output Gauge vs absolute Call graph for the depth function 29

30. Task 2: Multiplexer and Pressure Results Multiplexer ADC test output 30

31. Updated Gantt Chart Nick Sikkema Task 3 PERCENT November October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 2 7 9 14 16 21 23 28 30 95% Research Parts Multiplexer and Pressure Sensor 55 55 95% 0% Compass and Accelerometer 10 0% Directional Guidance Algorithm 21 0% Test Single Submarine 34 Fall Progress Presentation Plan %Complete 31

32. Task 3: Compass and Accelerometer Design and Experiment Pololu library C++ conversion Code cleanup I2C Call graph for the read acceleration register function 32

33. Task 3: Compass and Accelerometer Results Heading test output Velocity test output 33

34. Updated Gantt Chart Nick Sikkema Future work PERCENT November December October ACTIVITY DURATION COMPLETE 4 6 11 13 18 20 25 27 2 4 9 11 16 18 23 25 30 2 7 9 14 16 21 23 28 30 95% Research Parts Multiplexer and Pressure Sensor 55 55 95% 100% Compass and Accelerometer 15 20% Directional Guidance Algorithm 21 0% Test Single Submarine 45 Fall Progress Presentation Plan %Complete 34

35. Autonomous Underwater Robots Progress Presentation RYAN LIPSKI, CAMERON PUTZ, AND NICK SIKKEMA ADVISOR: DR. JOSEPH DRISCOLL DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, BRADLEY UNIVERSITY NOVEMBER 20, 2014

36. References [1] Silicon Photodiode for the Visible Spectral Range, OSRAM, [online] 2014, http://www.everlight.com/file/ProductFile/201407061648128798.pdf (Accessed: 19 November 2014). [2] RGB Color Light Sensor Surface Mount, Everlight, [online] 2013, http://www.everlight.com/file/ProductFile/201407061648128798.pdf (Accessed: 19 November 2014). [3] "Arduino," Arduino SA, [Online]. Available: http://arduino.cc/en/Main/arduinoBoardUno. [Accessed 19 11 2014]. [4] "Freescale," 10 2012. [Online]. Available: http://cache.freescale.com/files/sensors/doc/data_sheet/MPX2202.pdf. [Accessed 19 11 2014]. 36

37. Collision Detection Collision detection and tilt compensation 37

38. I2C Test LSM303DLHC Initialization I2C test 38

39. Eagle Schematic 39

40. First amplifier design 40

41. Second photodiode design 41

42. Second design iteration output 42