Mark Carlin, Sangjo Choi, Min Chan Joo, Shawn Young

1
Autonomous Underwater Vehicle (AUV) 2008
Mark Carlin, Sangjo Choi, Min Chan Joo, Shawn
Young
mac016000_at_utdallas.edu, sjc063000_at_utdallas.edu,
mcj061000_at_utdallas.edu, scy041000utdallas.edu
Department of Electrical Engineering Erik Johnson
School of Engineering Computer
Science University of Texas at Dallas Richardson,
Texas 75083-0688, U.S.A.
Project Goals

• Design and Execute the integration of SONAR
  board and Motor controller into the Autonomous
  Underwater Vehicle (AUV).
• Employ an independent module to test the SONAR
  pinger detection algorithm and implement the
  optimized algorithm into AUV.
• Test, Troubleshoot, and Reprogram the AVR
  microcontroller that determines the movement of
  AUV to conform with the optimized SONAR detection
  algorithm.

Project Overview

• Projected Procedure

Reverse-engineering
Interface Laptop and AVR
Test H-phones
Incorporation

• Primary Objectives

• Diver turns on AUV.
• AUV drives straight through qualification gate
  (100 points).
• AUV seeks active pinger.
• AUV surfaces directly above pinger in marked
  Octagon floating on the surface (1500 points).
• AUV waits to be shut down by diver.

Compete
Test Run Mission
Test Motors and Motor Controllers
Synchronize Motor Control with SONAR
Generate Mission Code

• SONAR Detection

• Three hydrophones will detect the signal.
• The time differences of the time when the signal
  is reached to each h-phone will determine the
  direction in the AUV.
• Then AUV will cruise to the pinger.

Total 1600 points
3 H-phones
Pinger

• Motors
• Motor Controller
• Motor Control AVR

• System Diagram

• Hydrophones
• SONAR Board
• SONAR AVR

Project Conclusions/Outcomes

• SONAR Detection successfully interfaced with AVR
  and Computer. Actively communicating and
  computing bearing and elevation algorithms.
• Motor Control interface and algorithms
  successfully control the AUV in both graphical
  simulation and physical testing.
• Sonar and Motor control interfaced together
  through on-board computer, creating a chain of
  control where the SONAR algorithm instructs the
  motor controller to direct the AUV.