ensieta autonomous vehicle sauc’isse
DESCRIPTION
ENSIETA Autonomous vehicle SAUC’ISSE. SAUC’ Interval Super Submarine of Ensieta. Introduction Technical design Mechanical description Embedded electronic architecture Safety considerations Craftsmanship Conclusion. > Content. Introduction. Introduction. Team members - PowerPoint PPT PresentationTRANSCRIPT
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ENSIETA Autonomous vehicle SAUC’ISSE
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09/07/2009 - 2ENSIETA Autonomous vehicle SAUC’ISSE
> Content1. Introduction
2. Technical design1. Mechanical description
2. Embedded electronic architecture
3. Safety considerations
3. Craftsmanship
4. Conclusion
SAUC’ Interval Super Submarine of Ensieta
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09/07/2009 - 3ENSIETA Autonomous vehicle SAUC’ISSE
Introduction
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09/07/2009 - 4ENSIETA Autonomous vehicle SAUC’ISSE
Introduction
Team members– Fabrice LE BARS (PhD Student)
– Jan SLIWKA (PhD Student)
– Alexandre KABIL (Undergraduate student)
– Arnaud FERRE (Undergraduate student)
– Luc JAULIN (Professor)
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09/07/2009 - 5ENSIETA Autonomous vehicle SAUC’ISSE
Technical design
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09/07/2009 - 6ENSIETA Autonomous vehicle SAUC’ISSE
Technical Design : Mechanical Description
Aluminium made– Amagnetism – Resistance to corrosion– Watertight
2 aluminium plates with waterproof connectors (3 screws per plate)
Resistance to pressure up to 10 meters Stable in rolling and pitching
– Keel– Easy to equilibrate
3 thrusters (2 horizontal and 1 vertical) 2 removable Plexiglas stages inside
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09/07/2009 - 7ENSIETA Autonomous vehicle SAUC’ISSE
Technical Design : Electronic Architecture
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09/07/2009 - 8ENSIETA Autonomous vehicle SAUC’ISSE
Technical Design : Safety
It is Red : easy to spot ! Easy emergency switching by a brake Thrusters protected Electronics protection
– No leak for 3 years– Aluminium tube
• Good heat conductor Natural cooling
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09/07/2009 - 9ENSIETA Autonomous vehicle SAUC’ISSE
Craftsmanship
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09/07/2009 - 10ENSIETA Autonomous vehicle SAUC’ISSE
Craftsmanship
Simple mission planning through text files– Robust– Permanent– Repeatable
Everything is done with sonar New set membership methods
– Interval constraint propagation Faster algorithms– Q-intersection Taking into account sonar outliers
Offline mapping from log file Simulator demonstration
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09/07/2009 - 11ENSIETA Autonomous vehicle SAUC’ISSE
Conclusion
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09/07/2009 - 12ENSIETA Autonomous vehicle SAUC’ISSE
Conclusion
SAUC’ISSE is a simple and robust robot with new and efficient methods