Underwater autonomous vehicle

[2014-10-03 Fri 19:15] speaker: Alex, Comp Eng 2nd Year event: Friday Hacks ** Motivation Explored less than 5 percent of the oceans Depth, high pressure ** Remotely operated vehicles (ROV) big heavy veheicle with an umbilical cord can go down to 3000m useful for offshore work ** Autonomous vehicle smaller, self powered limited power research oriented slight intervention risk of losing it ** Team BumbleBee running for three years independent learning and project management mechanical, electrical, software ** Software CV, navigation, UI ** Sensors *** doppler velocity log detect velocity of water high accuracy and reliable for dead mans reckoning used by ships, torpedos *** Inertial measurement unit world magnetic model to give true heading ** Control system 6 degrees of freedom pid controller for movement by minimizing error, treat current point as error ** Computer vision murkey water causing low visibility abberation of color ** Color constancy algorithm - Grey World assume frame on average is neutral grey average reflected color is assumed to be color of the light compared to neutral grey and pixels scaled ** Image segmentation Hough Transform Image moments HSV color space thresholding ** Acoustic localization passive sonar system triangulating sound emitting objects in a swimming pool, the walls reflect the sounds ** Mission planner graph of states managing contingency and ensuring recovery