Autonomous Robotic Vehicle Project University of Alberta Static - - PowerPoint PPT Presentation

Autonomous Robotic Vehicle Project University of Alberta Static Judging Presentation - RoboSub 2017

Mission Statement

To promote, develop and apply the use of robotic systems to current and future generations

Mechanical Systems

Curtis Stewart Ryan van Drecht

New Design Comparison

AquaUrsa (2013–2016) Auri 2017

Auri - Mechanical Specifications

Weight 27.2 kg / 60 lbs Maximum Depth 43 m / 141 ft (Factor of Safety of 3) Dimensions (L x W x H) 0.80 x 0.57 x 0.54 (m) / 31.3 x 22.6 x 21.3 (in) Degrees of freedom 6 Number of thrusters 6 Battery Life 240 minutes

Hull

• 8” Diameter, 22.75” long
• Double-hull design
• Octagonal aluminum center
• Circular acrylic end tubes
• O-ring seals

Sealing the Hull

• Double O-ring sealed
• Parker standard sizing for O-rings

and grooves

• Acrylic caps held by gate

mechanism

Gate Mechanism

• Latch based assembly
• Rubber contacting acrylic caps
• Quick to release latches and access

electronics

Frame

• Simplified construction
• Unified fastener system
• Compact
• Lightweight
• Expandable

Battery Enclosures

• 3.5” Acrylic tubes
• Aluminum flanges with polycarbonate

end caps

• Double O-ring sealed

Electronics Tray

• 3D printed ABS custom tray design
• Slides into hull for easy assembly
• Held in place by aluminum hull and acrylic

caps

• Split into back and front tray for increased

electrical board organization

Marker Droppers

• 3D printed ABS structure
• Steel markers
• Released via magnet on a

servo-controlled swivel mechanism

• 3D Printed PLA filament torpedoes
• Propelled by compressed CO2 gas

at ~850 psi

• Controlled by solenoid valves

Torpedoes

Electrical Systems

Brayden DeBoon Sean Haliburton

Goals

Increased reliability Improved monitoring Simpler installation process

Power Distribution Board

• Supplies power to all internal electronics

at voltages of 3.3, 5, and 12.

• Improvements from last year:

○ Output power increased from 120W to 255W ○ Reverse input polarity protection ○ Digital on/off control for each converter ○ Current sensing

Monitoring

1. Battery Monitoring

a. Monitors four battery voltage levels via INA3221 IC b. LCD display can be read externally c. Hall switch activated for efficiency

2. Voltage Monitoring

a. Monitors voltage levels from the power regulation board b. Implemented to be read through software

3. Internal Environment Sensing + Depth

a. Senses internal pressure, temperature and humidity b. Acts as an interface for the depth sensor

SONAR

• Multi-Axis Assembly

○ Servo hydrophone positioning ○ Custom 3D mount

• Variable Gain Filter

○ Triple-op amp design ○ Multi input

• Current system status

○ Hardware fully functional ○ Software in progress

• Future

○ Integration onto Auri

Ongoing projects

Torpedos

• Fix solenoid loading issues

Sonar

• See Mike Bardwell

Mechanical Arm

• Gripper based on the Yale OpenHand Project
• Three or four degrees of freedom (two or three

Rotational, one end-effector) Custom ESC’s and buck converters

• Easier to troubleshoot and cheaper to fix

Software Systems

Noni Hua James Hryniw

Goals

Reliability Modularity Testability Maintainability

Software Systems Overview

• Mission Planner
• Computer Vision
• Control Systems
• Diagnostics

Mission Planner

• Uses the ROS smach package
• Each task is composed of a

number of states in a finite state machine

• Modular design allows simple

mission customization

Computer Vision - Contour-based detection

• Goals

○ Reduce reliance on colour ○ Reduce parameter tuning

• Parameterless Ellipse Fitting
• Rectangle Detection

Computer Vision - Neural Network

• YOLOv2: VOC 2007 + 2012
• 19 convolution layers
• Modified last layer for our five

classes

○ Red, green and yellow buoys, inverted gate and path

• Trained with over 7000 samples
• n AWS instance
• Avg IoU: 77%
• Avg precision: 91%
• Avg accuracy: 99.54%

Simulator

• 3D underwater scene simulator

allows testing outside the pool

• ROS based interface
• Environment modelled to

emulate TRANSDEC pool

• Recreates poor visibility

conditions

Administration / Business

Randi Derbyshire Jonathon Machinski

What Do We Do?

• Outreach
• Sponsorship/Money
• School Visits
• Blog/Website
• Networking

Outreach

• Goals
• hit mission statement
• drive value to sponsors
• High School Presentations
• Social Media Campaigns,

Twitter, Facebook, Instagram

• Volunteer events

USEED Campaign

• Crowdfunded for the project
• Raised over $18,000
• Featured:
• scheduled social media
• unique video campaigns
• targeted lists of businesses

and qualified supporters

ROS Edmonton

• Hub for sharing Artificial

Intelligence and Robotics

• Held once a month at

Edmonton’s startup incubator

• Features:
• ROS Tutorials
• Guest Speaker
• Topics included:
• Swarm Robotics
• Machine Learning
• PID Controllers
• OpenCV
• SLAM

Unveiling Event

• Build up saw ARVP featured on

local television and radio shows

• Event featured:

○ The Reveal ○ Live Demo ○ Free BBQ ○ Give Away Draw

• Attendance:

○ Over 50 people ○ Both of Edmonton’s largest media outlets

Thank you to our many sponsors!