Autonomous Surface Vehicle (ASV) AUTHORS: Cory Barrett Megan Barrett Travis Calley Meghan Cincotta Shane Harvey Timothy Kammerer Ian Lander Matthew Lemire Yongjin Lu David Miner John Ross Kristen Simoneau
The Autonomous Surface Vehicle (ASV) team works in conjunction with the Remotely Operated Vehicle (ROV) team to develop and test autonomous control systems, and vehicles for multiple marine platforms. The final mission is to demonstrate inter-operability between surface and subsurface vehicles for the purpose of seafloor mapping. This project is funded by the Naval Engineering Education Consortium (NEEC) through the Naval Undersea Warfare Center Division Keyport, in Keyport, Washington.
Autonomous Surface Vehicle (ASV) Team Members: Ian Lander (OE), John Ross (ME), Meghan Cincotta (ME), Michael Jenness (ME), David Miner (ME), Kristen Simoneau (ME), Cory Barrett (CE), Megan Barrett (CE), Timothy Kammerer (CE), Yongjin Lu (CE), Travis Calley (CS), Matt Lemire (CS) Project Advisors: Dr. May-Win Thein & Dr. Yuri Rzhanov Graduate Advisors: Allisa Dalpe, Alexander Cook, & Oguzhan Oruc In collaboration with the UNH Remotely Operated Vehicle (ROV) project Special Thanks to Dr. Martin Renken, John Ahern, Scott Campbell, Laura Gustafson, Sheri Milllette & Tate Ellinwood (Saint Paul High School)
CONTROLS AND AUTONOMY
MISSION
TETHER MANAGEMENT
• Updated controller from a bang-bang controller to PID controls
The ultimate goal of this project is to have autonomous ASV and ROV deployment, which is also able to behave as a swarm with other ASV and ROV pairings. The intended application of this system is autonomous sea floor mapping.
• Developed autonomy:
Future goals include improving the autonomy of the system, and communication between multiple vehicles. The system would be able to serve as a testbed for evaluating the effectiveness of autonomous naval assets.
• Reduces overshoot and decreases settling time of heading control • Grid of points, to collect data, in a lawnmower pattern • GPS to track current position of vessel and determine heading and speed • Sends commands the controller in order to follow the lawnmower pattern
UUV INTEROPERABILITY
• Blue Robotics ROV2 Heavy
• Modified automotive winch • Trapdoor system for smooth UUV deployment
• Shore station equipment stored in a water/dust proof box for safe & efficient transportation
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• WiFi signal used for telemetry and control • ROS communicates across multiple machines to pass data and commands
ASV OVERVIEW
ASV laptop is vehicle control
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Shore station laptop is operator station
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Sonar readings and GPS location communicated to shore station
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Vehicle system parameters can be monitored (Propulsion, UUV Deployment)
• XBees are used for failsafe heartbeat
UNDERWATER GPS DEPLOYMENT • Uses a Waterlinked® Underwater GPS© System •
• Rotary encoder added to allow for deployment/retrieval of tether based on distance, rather than time.
• Designed to operate with the UNH ROV team's vehicles
SHORE TO VEHICLE COMMUNICATIONS
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• New pulley system added to better handle tether between ASV and UUV, and helps prevent tether slipping.
4 submersible transducers (on ASV), 1 receiver (on ROV), and an Electronics dry box (on ASV deck)
• Employs a low-power linear conveyor to deploy the transducers • System stabilizes the transducers for precise location monitoring
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Catamaran-style Design
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Length: 7' 9"
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Beam: 5' 6"
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Twin Electric Motors
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4 arms for deploying UGPS sensors
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Trapdoor for deploying Unmanned Underwater Vehicle (UUV)
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"Penthouse" platform to keep electronics far from waterline
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Built by 2017-2018 ASV Team Many improvements and modifications have been added
• Water Depth Measurement: Blue Robotics Echosounder • Heading & Tilt: Inertial Measurement Unit (IMU) • Tether Deployment Length: Rotary Encoder
TUPPS (TESTING UNMANNED PERFORMANCE PLATFORMS) Purpose: A small-scale version of the ASV for indoor testing in a tank.
Fully Retracted UGPS Arm
• Detachable for transportation of ASV
SENSOR OVERVIEW • Positioning: GPS + GLONASS Receiver
• Cost-effective, modular construction • Arduino, Raspberry Pi, and other open-source components • Inertial Measurement Unit for heading control •
PID heading control in testing
• Blue Robotics thrusters
OCEAN ENGINEERING
ADVISORS: Yuri Rzhanov May-Win Thein
2018-19 Version
2019-20 Version
Waterlinked® Components
Fully Deployed UGPS Arm
Underwater Remotely Operated Vehicle (ROV) AUTHORS: Travis Calley Timothy Holt Kevin Johnson Matthew Lemire Logan Yotnakparian ADVISORS: Yuri Rzhanov May-Win Thein
The ROV team works along side the Autonomous Surface Vehicle (ASV) team towards a common goal. The primary goal of the ASV/ROV teams is to create an autonomous surface vehicle (ASV) system that can be sent to perform a search pattern to map a section of ocean floor with sonar. When the ASV detects an object or location of interest, it will deploy the on-board AUV to take images of the area or object. One goal is to have the system capable of being added to any surface craft to give it autonomous capabilities.
Underwater Remotely Operated Vehicle(ROV) Team Members: Travis Calley, Timothy Holt, Kevin Johnson, Matt Lemire, Logan Yotnakparian
Project Advisors: Dr. May-Win Thein & Dr. Yuri Rzhanov Graduate Advisors: Allisa Dalpe, Alexander Cook, & Oguzhan Oruc In collaboration with the UNH Autonomous Surface Vehicle (ASV) project Special Thanks to Dr. Martin Renken, the UNH Parents Association, John Ahern, Scott Campbell, Laura Gustafson, Sheri Milllette & Tate Ellinwood (Saint Paul High School)
Tether System Interchangeable Tether System Goal: To make one tether system that will work with all current and future ROVs • Each ROV has a female SubConn connector, while the tethers has a male SubConn connector • Tether ROVs can switch between is capable of withstanding a tethers load of 300 lbs tensile • New Connections (ROV 008) testing are reelinline incorporates quick or on the end for capeasy (ROVset006 connections up& 007)
The figure above shows the tether connected to ROV 007.
ROV Mission The primary goal of the ROV team is to work alongside the ASV to achieve entirely autonomous ocean mapping. The main focus of the ROV team this year is to establish effective and repeatable testing to create a platform to facilitate the implementation of more advanced control systems in future years.
Deployment Goal: To autonomously deploy the ROV from the ASV • Strategy consists of custom built tether reel and guided spooling system to control the deployment process • Tether reel has been fabricated out of a 2000 pound winch motor, a cable reel, and a slip ring • 12 wire slip ring enables the connection between the ROV, the tether reel, and the ASV • Rollers will be implemented around A rotary encoder will prevent the the trapdoor in theattempting deck of thetoASV to system from deploy prevent the tether on the more tether thanfrom whatsnagging is available • ASV A force gauge and a floating pulley • A cable management will be implemented to guide the will deploy the tethersystem only when tether the spool uniformly to prevent tangling and overflow there onto is tension
Underwater GPS
ROS System Design Robot Operating System, or ROS, is a set of software libraries and tools used for the development of robot applications.
• WaterLinked Underwater GPS • Accuracy varies at +/- 1% of the distance between the Locator and the Receivers (assuming minimal reflection) theLocator underwater GPS along with controls developed, we are able •• Using New A1 improves to the ROV travel from a starting location to a thehave mobility of the ROVautonomously and the desired point accuracy of of theinterest system while • Currently using the QGroundControl system we are able to manually testing indoors select a point of interest and begin travel • Testing platform provides The figure above shows the WaterLinked Underwater GPS MavLink.
consistent, reliable node location and UGPS performance
65 • 2020 UNDERGRADUATE RESEARCH CONFERENCE
waypoint to waypoint autonomously • The User Interface Allows us to select waypoints for the ROV to travel to. • Waypoints can be given outside of UI using a python script • The python script allows for the waypoints to be passed to the ROV from another platform since the python script can be executed though the ROS network • Navigation can be improved by tweaking the gains of the PID controllers
Controls • The current controller onboard the ROV is the proportional-integral-derivative controller. QGround control is an interface that allows each of the controller gains to be tuned appropriately from testing feedback.
The figure above shows the ROV deployment system from the ASV. It is important to note that tether reel is shown in blue.
Goal: To locate the ROV underwater using four receivers listening for a set acoustic frequency and a single locater producing a desired acoustic frequency
Waypoint Navigation Goal: to accurately navigate from
MAVROS is a ROS package used to send MAVLink messages from the ASV to the AUV using the ROS Publisher/Subscriber framework. This package allows for: • Setting mission waypoints • Arming the AUV for a mission • Returning to home (ASV)
Front Seat/Back Seat design using the ROS framework