Two high level goals:
- Autonomy
- Autonomy with inertial tracking of the robot
Specifics:
- Figure out power supply for the thrusters
- UPS?
- Power supply for the electronics
- Avoid Li-ion for fire safety reasons. Use NiMH or NiCd.
- Communication between AUV and “land computer”
- Acoustic
- Optical
- Floating Buoy RF
- Order parts as needed
- Setup water tank to do basic AUV testing
- Ask UCLA pool permission for elaborate testing
- Tethering cord for the AUV
BlueROV operating systems:
- Ardusub (http://ardusub.com/)
- BlueROV ROS (https://github.com/bluerobotics/bluerov-ros-pkg)
Drone operating systems:
- PX4
Openpilot(deprecated)- Cleanflight (http://cleanflight.com/)← derived from MultiWii
- Ardupilot
- ROS (Base operating system running on Linux)
Low level robot control platform:
- PixHawk
Next Action Items:
- Assemble BlueROV for a basic tank testing
- Get basic software running on RPi + PixHawk
Product Name | Description | Price | Quantity | Total | Link |
Low-Light Analog Camera (NTSC) | ROV Camera | $32.00 | 1 | $32.00 | https://www.bluerobotics.com/store/electronics/low-light-ntsc-camera/ |
Lumen Subsea Light for ROV/AUV | Subsea LED Light, do we need it? | $99.00 | 1 | $99.00 | https://www.bluerobotics.com/store/electronics/lumen-light-r1/ |
Celsius Fast-Response, ±0.1°C Temperature Sensor (I2C) | Underwater Temperature Sensor | $56.00 | 1 | $56.00 | https://www.bluerobotics.com/store/electronics/celsius-sensor-r1/ |
Bar30 High-Resolution 300m Depth/Pressure Sensor | Underwater Pressure Sensor | $68.00 | 1 | $68.00 | https://www.bluerobotics.com/store/electronics/bar30-sensor-r1/ |
Underwater Robotics: Science, Design & Fabrication | A 750-Page Underwater Robotics Textbook | $139.00 | 1 | $139.00 | |
O-Ring Pick | Help remove O-rings without any damage | $4.00 | 1 | $4.00 | https://www.bluerobotics.com/store/tools/tool-o-ring-pick-r1/ |
Hex Key Set | Use for the screws | $6.00 | 1 | $6.00 | |
Fathom ROV Tether | Length from 1m to 300m, I don't know how long is enough | ? | 1 | ? | https://www.bluerobotics.com/store/cables/fathom-tether-nb-4p-26awg-r1/ |
Battery? | Do we need it? | ? | 1 | ? | ? |
ArduSub Open-Source Subsea Vehicle Control
http://ardusub.com/initial-setup/#wiring-and-connections
- Read the Introduction of this page. Know the Key Features, Hardware Controller, Tether and Tether Interfaces, Applications and so on.
- Read the Initial Setup. Know how the six thrusters are labeled (http://ardusub.com/introduction/#supported-frames) and how to connect every thruster and every sensor to PX4.
- Install QGroundControl for Mac.
- Loading Firmware, which needs to install brew first.See the Developer section for instructions on how to compile from source.
Raspberry Pi 3
GettingStarted with Raspberry Pi: Installing Raspbian
- Download and Find the Disk Image
- Format the SD Card
- Unmount the Volume
- Flash the Disk Image