Platform 3: Submarine System

ARISE ASV/AUV Projects

Project 1C: Hydrophones Instrument (AUV)

Purpose:

The hydrophones instrument will be used to detect the location of an underwater pinger and to determine its location relative to our vehicle's position in the water.

Specifications:

There are two pinger units that will ping at a rate of 0.5 Hz (2 seconds), and will be separated by 0.9 seconds.  The pingers will be synchronized. The schedule will be:

Unit 1 (ping 1)              time = 0.0s

Unit 2 (ping 1)              time = 0.9s

Unit 1 (ping 2)              time = 2.0s

Unit 2 (ping 2)              time = 2.9s

Etc.

The ping duration is 1.3ms with a sound level of 187dB.  The hydrophones instrument must be configurable to a specific frequency (in the range of 20-30kHz) and a specific unit (based on the schedule).

Difficulty:

Considerably difficult electronic and software project.  Estimated ~150 hours of work.

Project 2C: Drop Mechanism (AUV)

Purpose:

The drop mechnism will be used to drop two markers (ex: marbles, darts) into bins underwater.

Specifications:

- Must have computer controlled trigger
- Should have capacity of at least two markers
- Should be capable of dropping each marker individually
- Markers must be designed to drop straight down
- Should be easy and quick to reload
- Must not discharge markers when power is interrupted
- Dimensions must not be much more than 10x10x20cm (excluding muzzle)

Difficulty:

Medium-level mechanical and electrical project.  Estimated ~40 hours of work.

Project 3C: Torpedoes Mechanism (AUV)

Purpose:

The torpedoes mechnism will be used to shoot two torpedos into a target underwater.

Specifications:

- Must have computer controlled trigger
- Should have capacity of at least two torpedoes
- Should be capable of droping each torpedoe individually
- Torpedoes must be designed to travel horizontally 1.5-3 metres in water
- Should be easy and quick to reload
- Must not discharge markers when power is interrupted
- Dimensions must not be much more than 10x10x20cm (excluding muzzle)

Project 4C: Opto-isolator Motor Board (both ASV and AUV)

Purpose:

The opto-isolator motor board will provide electrical isolation between the computer's PWM outputs circuits and the electronic speed controllers PWM inputs circuits.

Specifications:

- Must have capacity of at least 6 PWM signals
- May have an additional on/off signal for each PWM
- Must operate well with high frequency PWM
- Should have smallest form factor (ex: 5x5cm board)
- Should have practical connectors to plug PWM lines
- May have onboard USB-to-PWM chip (MCU)
- May have additional outputs or inputs

Difficulty:

Medium-level electronic (and possibly software) project including designing PCB layout.  Estimated ~20 hours of work.

Project 5C: Electrical Meters (both ASV and AUV)

Purpose:

The electrical meters will monitor the power (volts and amps) used by different electrical circuits.

Specifications:

- Must be readable with a computer
- Must measure the voltage of a circuit
- Should measure the current of a circuit
- Should be able to support various number of volt/ammeter combinations
- Should have smallest form factor

Difficulty:

Medium-level electronic (and possibly software) project.  Estimated ~15 hours of work.

Project 6C: Environmental Sensors (both ASV and AUV)

Purpose:

The environmental sensors will monitor the sealed electronic compartments for dangerous environmental conditions (temperature, water leaks).

Specifications:

- Must be readable with a computer
- Must support multiple temperature sensors
- Must support multiple water sensors
- Water sensors may be implemented using humidity sensors or electric probes
- Should have smallest form factor
- Should allow maximum flexibility for placing sensors in constrained spaces

Difficulty:

Medium-level electrical project.  Estimated ~20 of work.

Project 7C: Water Cannon (ASV)

Purpose:

The water cannon will be used to shoot water in circle holes on the target.

Specifications:

- Must be computer controlled
- May be able to control flow rate to adjust range
- May have servos to adjust nozzle angle to be able to aim
- Must use water from the pond
- Must be able to hit targets 0.5 to 2 metres above the water level

Difficulty:

Easy mechanical project OR medium-level mechanical and electrical project.  Estimated ~5 hours work (no aim) or estimated ~15 hours work (with aim).

Project 8C: Settings-Status Panel (both ASV and AUV)

Purpose:

The settings-status panel will be used to adjust mission settings and report system status.

Specifications:

- Must be capable of at least 5 toggle switches and 5 output LEDs
- Must be sealed to be able to be submerged underwater
- May have external switches or have internal switches with an openable sealed lid
- Should be able to read LEDs without opening the lid
- Should have a chip to do the Input-output over USB

Difficulty:

Medium-level mechanical, electrical and software project.  Estimated ~20 hours work.

Project 9C: GPS Receiver (ASV)

Purpose:

The GPS receiver will be used to find the current coordinates of the vehicle and help it navigate to new coordinates.

Specifications:

- Must be able to be read by a computer
- Must provide latitude and longitude
- Should have quickest start time
- May provide additional information: time, altitude, satellites, position error
- May provide derivative information: bearing, speed

Difficulty:

Easy/medium-level electrical and software project.  Estimated ~15 hours of work.

Project 10C: Grab Mechanism (AUV)

Purpose:

The grab mechanism is used to grab an object (PVC tubes) underwater and constrain it in at least three degrees of freedom.

Specifications:

- Must be computer controlled
- Must be able to grab an item made of ½ inch PVC pipe

- Should be able to grab and release the object

- May have servors to control angle/aim

Difficulty:

Medium-level mechanical and electrical project (no aim) OR difficult-level mechanical, electrical and software project (with aim).  Estimated ~25 hours work (no aim) OR estimated ~50 hours work (with aim).

Project 11C:  Grab Mechanism (ASV)

Purpose:

The grab mechanism is used to grab a velcrow-covered object (out of water) and be able to release it.

Specifications:

- Must be computer controlled
- Must be able to grab a ring that is covered in velcrow

- Should be able to grab and release the object

- May have servos to control angle/aim

Difficulty:

Medium-level mechanical and electrical project (no aim) OR difficult-level mechanical, electrical and software project (with aim).  Estimated ~25 hours work (no aim) OR estimated ~50 hours work (with aim).