BlueROV-1: Meeting Notes and List of Things We Need

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

List of things that we need:

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

https://www.bluerobotics.com/store/books/book-moore-ed1/

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

https://www.bluerobotics.com/store/tools/tool-hex-set-r1/

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

1. Read the Introduction of this page. Know the Key Features, Hardware Controller, Tether and Tether Interfaces, Applications and so on.
2. 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.
3. Install QGroundControl for Mac.
4. 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

1. Download and Find the Disk Image
2. Format the SD Card
3. Unmount the Volume
4. Flash the Disk Image