Our AUV
Leviathan is our 2021 autonomous underwater vehicle (AUV) designed to be "future-proof" for the next five years. It features new competitive abilities including ease of motion, passive stability, bi-directional vision, and designated locations for future improvements.
Check out our report and the updates below! |
Shows how to use 'Labellmg,' for CV recognition of targets. This further allows for 'data tag' in order to train machine learning model.
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Shows the different uses and examples in ROS for mostly Software's Automation subgroup. - Objective: launch an active or inactive projectile at specified underwater targets with varying degrees of difficulty.
- The design consists of a projectile or torpedo which is independently powered with pressurized CO2. The triggering mechanism operates similarly to a spring action rifle. - The puncture plate is released by a servo mount that rotates in/out of the puncture plate's path. The servo's position and enclosure dimensions are set to both fit within the frame of the submarine as well as to keep the parallel springs adequately compressed in order to puncture the compressed CO2 cartridge. - The image on the left shows the ANSYS Fluid Flow (CFX) analysis to observe the streamlines' deviation as a function of the torpedo length. Shows examples in ROS for Software's Automation subteam. Shows how to run ROS and use State Machines made in Python with Smach to control the submarine. Updates from Build Meeting:
Challenges: brackets not aligning on all sides, wing mount holes were not symmetrical
Solutions: Design a 3D Extrusion Tube alignment part that would ensure the drilling of holes at the correct locations with minimum percent deviation (image on the left). The thruster PDB (Power Distribution Board) will get input via UART from the task board, consisting of control signals. This board will also relay analog voltage to the task board, to be read as. This board is operated using a 14 V lipo battery.
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