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ROBOSUB Waterborne Autonomous Vehicle a Modular Development Platform for Underwater Robotics at WPI

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ROBOSUB Waterborne Autonomous Vehicle a Modular Development Platform for Underwater Robotics at WPI ROBOSUB Waterborne Autonomous VEhicle A Modular Development Platform for Underwater Robotics at WPI A Major Qualifying Project Report Submitted to the Faculty of WORCESTER POLYTECHNIC INSTITUTE In partial fulfillment of the requirements for the Degree of Bachelor of Science By Electrical Mechanical Software Team Team Team Ijeoma Ezeonyebuchi Sidney Batchelder Daniel Miller Breanna McElroy Anna Chase Edward Osowski Neal Sacks Cory Lauer Angel Trifonov Adam Vadala-Roth Elizabeth Morris Christopher Overton Report Submitted to Report Submitted to Report Submitted to Prof. Susan Jarvis Prof. Stephen Nestinger Prof. Michael Ciaraldi Prof. Craig Putnam Prof. Kenneth Stafford Prof. Craig Putnam 4/23/2013 Abstract This project designed and realized the Waterborne Autonomous VEhicle (WAVE), a submersible modular robotic platform to enable research on underwater technologies at WPI at minimal cost. WAVE’s primary design objectives were modularity and expandability while adhering to the regulations for the international competition held by the Association for Unmanned Vehicle Systems International. WAVE’s core features include a six degree-of-freedom chassis, a modular electronic infrastructure, and an easily configurable software framework. Authorship The contents of this report can be classified into four categories: mechanical, electrical, software, and systems level sections. The three sub teams were responsible for writing their respective team sections, while the system-level sections were written by the senior engineers of the term that the specific sections were created in. Additionally, the appendices of this report were created on an individual basis. Although the majority of the sections were created at the team level, each member deserves recognition for their individual work throughout this report. For sections with multiple authors, they are credited alphabetically by last name. 1 Introduction ...................................................................................................... Batchelder, Osowski, Sacks 2 Background ......................................................................................................................................... Team 2.1 Robotic Submersibles ...................................................................................................... Osowski 2.2 Chassis Design Paradigms ........................................................................................... Batchelder 2.3 Propulsion System....................................................................................................... Batchelder 2.4 Ballast/Buoyancy Systems .................................................................................................. Lauer 2.5 Thermal Regulation .............................................................................................................Chase 2.6 Power System ................................................................................................................. McElroy 2.7 Software Architecture and Framework ............................................................. Osowski, Miller 3 System Overview .................................................................................................................. Osowski, Sacks 3.1 Functional Requirements of the System ............................................... Osowski, Overton, Sacks 3.2 System Specifications ........................................................................................... Osowski, Sacks 3.3 System-Level Design Decisions ........................................................................... Osowski, Sacks 3.4 System Breakdown .............................................................................................. Osowski, Sacks 4 Mechanical Design and Analysis ...................................................................................... Mechanical Team 4.1 System Modeling and Equations of Motion ...................................................... Morris, Overton 4.2 Chassis ................................................................................................ Batchelder, Chase, Morris 4.3 Electronics Housing ............................................................. Batchelder, Chase, Morris, Overton 4.4 Modules ......................................................................................................... Batchelder, Morris 4.5 Thrusters ............................................................................................ Batchelder, Chase, Morris 4.6 Ballast .................................................................................................................................. Lauer 5 Electrical Design and Analysis .............................................................................................. Electrical Team 5.1 Modular Infrastructure ............................................................................................ Vadala-Roth 5.2 Abstract Hardware Device Design ........................................................................... Vadala-Roth 5.3 Embedded System Design ................................................................................................... Sacks 5.4 Sensor System Design ........................................................................................... Ezeonyebuchi 5.5 Power System Design ...................................................................................................... McElroy 5.6 Design of Printed Circuit Boards ...................................... Ezeonyebuchi, McElroy, Vadala-Roth 6 Software Design and Analysis .............................................................................................. Software Team 6.1 Distributed Processing ........................................................................................ Miller, Osowski 6.2 Software and Environment Selection ................................................................................. Miller 6.3 Closing the Feedback Loop ................................................................................................. Miller 6.4 Mission Control ............................................................................................................... Osowski 6.5 Robot Models ...................................................................................................................... Miller 6.6 Libraries and Utility Functions ............................................................................................ Miller 6.7 Communications ................................................................................................................. Miller 6.8 Human-Robot Interaction ............................................................................................... Trifonov 6.9 Poolside Interface ............................................................................................... Miller, Trifonov ii 7 System Integration ............................................................................................................... Osowski, Sacks 7.1 Electronics Rack ................................................................................................... Osowski, Sacks 7.2 Pressure Vessel .................................................................................................... Osowski, Sacks 7.3 Communications .................................................................................................. Osowski, Sacks 7.4 System Integration .................................................................................... Lauer, Osowski, Sacks 8 Testing and Validation ........................................................................................................................ Team 8.1 Mechanical ........................................................................... Batchelder, Lauer, Morris, Overton 8.2 Electrical ................................................................. Ezeonyebuchi, McElroy, Sacks, Vadala-Roth 8.3 Software ............................................................................................... Miller, Osowski, Trifonov 8.4 Integrated System Testing .................................................................................................. Sacks 9 Future Work .................................................................................................................................... Osowski 9.1 Platform Improvements .................................. Chase, Lauer, Osowski, Overton, Sacks, Trifonov 9.2 Future Modules and Features ................................ Batchelder, Chase, Osowski, Sacks, Trifonov 9.3 Requirements for AUVSI ..................................................................................................... Lauer 10 Conclusions ........................................................................................................................ Osowski, Sacks 10.1 Successful Tactics .............................................................................................................. Sacks 10.2 Reconsiderations............................................................................................................... Sacks 10.3 Possible Changes ............................................................................................................... Sacks 10.4 Accomplishments ............................Ezeonyebuchi, McElroy, Morris, Osowski, Sacks, Trifonov Appendix A: Chassis Design Matrix .....................................................................................................
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