Aqua Box III
(i) The computer processing ability is sufficient to be used a test-bed vehicle for software.
(ii) Programming and debugging can be done from outside host computer.
(iii) The low level control of vehicle is carried out with micro controller.
(iv) The frame structure is adopted for modification of mounted devices.
| Type | Autonomous Underwater Vehilce (AUV) | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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| Structures | Aluminum Pressure Hulls x 4 H: 306[mm] W:605[mm] L:1730[mm]Weight: 40[kg] 50[m]depth pressure resistant |
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| Actuators | 100[W] Thrusters (MPT24V) x 4 110[W] Thrusters (BTD150) x 2 |
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| Computer System | Laptop PC (Intel Pentium M1.2GHz) Windows XP Professional MicroController (PIC30F6014) |
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| Communications | LAN & Wireless-LAN |
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| Sensors | Pressure Sensor (Depth Sensor) Hydrophone x 4 (Underwater Sound Localization System) Angular Velocity Sensor x 1 Cameras (USB: Bottom, Network: Front) Attitude Sensor x 1 Flow Sensor x 1 |
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| Batteries | Lithium-Polymer Battery 25.9[V]8000mAh x 1 14.8[V]16000mAh x 1 |
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| Others | Marker dropper (Marker x 2) | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Previously, AquaBox III is controlled by using PID algorithm.
However, when placement of some modules or sensors are
changed, motion characteristics of the robot are got an imbalance.
If we do not perform the system identification and change of
PID-gain, the robot is not able to be controlled well. Therefore, we
think about designing based on descriptor representation as gain
schedule robust controller.
| →Click Here !! |
The dropping mechanism is designed to safely carry and deliver two markers.
The diameter of these markers are are about 20[mm], length is about 60[mm].
The mechanism actuated by a servo motor. Pulling out the cap stopper part,
the markers are fallen onto the target.
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We installed four hydrophones on front of vehicle for acoustic navigation.
These are Reson TC4013 miniature hydrophones. These Hydrophones,
Amplifier circuit (maximum 10,000x), and Analog band pass filter (10[kHz]-100[kHz)
are embedded in sub aluminum pressure hulls.
And compare the delay of hydrophone pairs. From this compare, calculate
the direction
between vehicle and transponder. Signal processing unit(dsPIC) is embedded
in
the middle size aluminum pressure hull.
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