Design and development of Autonomous underwater robot

More and more work is going on to prevent its further growth but still human research at sea is very low as compared in space. Every person on planet earth is connected directly and indirectly to sea. Some people earn their living from sea while to other it?s recreational spot yet it pose danger to

Project Title

Design and development of Autonomous underwater robot

Project Area of Specialization

Mechatronics Engineering

Project Summary

More and more work is going on to prevent its further growth but still human research at sea is very low as compared in space. Every person on planet earth is connected directly and indirectly to sea. Some people earn their living from sea while to other it’s recreational spot yet it pose danger to human life too. Yet Drowning is the 3rd leading cause of unintentional death injury worldwide, accounting for 7% of all injury-related deaths. The aim of our project is to make human life much safer at sea. The idea of our project is to make DESIGN AND DEVEVELOPMENT OF UNDERWATER VHECLE to save human life at sea. It reduces the danger factor at sea and increase the safety of the person. The stable design of the submarine makes its movement in and over water much smoother and can easily defy all the waves pressure with maximum performance. 2 water jets are used for the to and fro motion will also be used for the steering of submarine. For navigation and positioning of submarine we are using the image processing techniques. From image processing technique we will obtain the XY axis and for the Z-axis(depth) we will use the strain gauges which will give us the accurate depth of the submarine even a person is lying on it.

We know that more than 70% of the earth’s surface is covered by the oceans and the ocean contain 97% of the earth water. However, the knowledge we have about the oceans is limited and only less than 5% of the Oceans have been explored so far. Till now Ocean exploration and oceanographic surveys has been predominantly done by the use of ships and collecting samples from the sea by various methods . However, using ships is expensive and hence cannot be done in a larger scale. Therefore, there is an increasing trend towards development and utilization of Autonomous Underwater Vehicles to lower the cost of ocean surveys and also reduce the risks of sending humans in to the hostile environments in the deep sea with unpredictable weather and the high pressure at greater depths. Therefore, in this research we propose development of a low cost and reliable AUV which can make Ocean exploration affordable and enable greater data collection from the sea. The AUV can be also used as a platform to add various sensors for its missions including environmental studies and defense applications. The Australian Sea floor survey department  has developed an AUV which can do sea floor mapping of large areas.

Project Objectives

The objectives of the project are: a) To develop underwater vehicle that able to move underwater. b) To develop underwater vehicle that able to float, submerge, rotate left and right in the water. c) To design the physical structure, electronic circuit and control of the vehicle.

And to make live video transmission of underwater scenary to study marine life.

AUV designed to overcome the problem that deep underwater exploration is one of dangerous task due to limited of human capabilities. If human can discover the underwater, many discoveries could get and learned with it. So, the underwater vehicle has been.

Project Implementation Method

The main inbuilt feature of the proposed AUV is the vision based tracking and video recording of marine animal behaviour and photo mapping of the seafloor. The AUV is capable of diving to pre-programmed depth and follow waypoints to conduct the desired survey. During the survey the vehicle will capture images using two cameras, one is the forward looking camera and the other is the bottom looking camera. While following the waypoints, if the vehicle identifies any marine animals then it can enter in to the visual tracking mode and follow the animal such as fishes, then once the vehicle loses track of the animal then the vehicle follows to the next way point and continues its mission until reaching the last waypoint and then surfaces. During the entire mission the forward looking camera and bottom looking camera capture images and stores in the internal memory. The bottom camera images can be mosaicked using feature matching technique to create a large 2D photomap of the surveyed area through offline data processing.

The architecture of the proposed AUV is presented in the block diagram in Figure 2. The AUV is controlled by an onboard Raspberry PI CPU board which controls the mission as well as the processes the computer vision algorithms to enable the vision based tracking. The control system in the CPU controls the 6 thrusters based on the waypoints in the mission plan as well as based on the feedback from the vision based tracking algorithm. The Thrusters driver acts as an interface from the CPU to take the control signals and deliver the proportional high-power current directly from the battery to drive the thrusters motor. The Depth Sensor, IMU and Leak detector are the sensor inputs to the CPU. The Forward and Bottom cameras and respective LED lights are also controlled by the CPU. The LED lights will be used for lighting the camera scene when sufficient natural ambient light is not present.

Benefits of the Project

AUV designed to overcome the problem that deep underwater exploration is one of dangerous task due to limited of human capabilities. If human can discover the underwater, many discoveries could get and learned with it. So, the underwater vehicle has been.

It will also be used for navigation purpose for army as well as sea industries.

Technical Details of Final Deliverable

The final deliverable project should be autonomous and move at nominal speed of 200 cm/min and it should have capablities like obstacle avoidance and live video transmission.

For underwater control we use LQR controller and using software Matlab

Final Deliverable of the Project

Hardware System

Core Industry

Security

Other Industries

Others

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Clean Water and Sanitation, Climate Action, Life Below Water

Required Resources

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