UUV Problem Statement

Construct a autonomous device that may quickly be configured to perform an unspecified mission.

Possible Goals/Missions

• Navigate through an array of gates
• Locate a target based on visual/acoustic/sonar/etc. information
  e.g.: seismology, archaeology, mapping
• collect and record such information for later use

  Constraints

  (from last year's competition, subject to change)
  • Max Weight: 100 kg
  • batteries only; no combustion
  • runs autonomously
  • completes task within specified time interval (~20 minutes)

  Performance Requirements

  Ability to:
  • submerge and resurface
  • self-propelled, self-guided
  • Works underwater down to 100 meters
  • operate over an unspecified range
  • communicate via radio
  • have a clearly marked kill switch to cleanly shut down and resurface

  Possible additional requirements

  • fit through a gate of roughly 3' x 3'
  • carry payload

  Tertiary Requirements

  In order to meet our primary requirements, we will possibly need to impose additional requirements
  • navigate
  • sensing

    Attitude

    position

    orientation

    velocity

    acceleration

    Environment

    detect obstructions of size on the order of 3"

    detect waypoints, goals

    visual targets

    acoustic information

    Status

    temperature

    moisture

    error/emergency conditions

    power

  • data processing: necessary for reducing sensing data into a navigation solution/response
  • environmental control:
    • humidity/moisture elimination: in the strong possibility that the sub houses electronic components, we need to take adequate measures to isolate the electronics from the elements
    • thermal management: the submarine needs adequate heat dissipation to protect its internal components

  Optional design goals

  Desirable, but may be sacrificed to meet other requirements

  high speed

  extra points for finishing faster

  high manuveurability

  more flexibility to fulfill goals

  Modular design

  easier integration, interchangeable parts

  ease of maintenance

  accessibility for convenient adjustments

  high reliability/duration

  ease of construction

  following the KISS principle

  dynamically stable

  makes it easier to model, predict, and control the sub's behavior

  low cost

  more budget for pizza

  Functional Block Diagram

  System Diagram

  Team Organization

  Research Topics

  Evaluation of possible technologies

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  Last modified: Wed Nov 17 20:27:25 EST 1999