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
Torpedoes ● 3D Printed PLA filament torpedoes ● Propelled by compressed CO 2 gas at ~850 psi ● Controlled by solenoid valves
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 on 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!
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