About the Robot

2016 Vehicle: Prospero

Named after the Shakespearean sorcerer, Prospero is BeaverAUV's first ever underwater robot. It is a highly robust design which allows components to be easily installed and repaired. All components were precision machined to insure watertightness to maximize functionality. Prospero is highly manuverable and incredibly stable in the water. Prospero's eight thrusters enable precise and fast movement. It is guided by a collection of sensors, and cameras, and is powered by an on-board microcomputer.

 


Mechanics

Prospero features a large acrylic pressure hull which houses electronics. it is capped by two black anodized aluminum end caps, and surrounded by a waterjet-cut aluminum frame.

Prospero also features eight thrusters for propulsion, modular mounting rails for attaching additonal hardware, and a dynamic trim system which allows for on-the-fly redistribution of weight.

Electronics

Prospero's electrical systems were designed for simplicity and funcitonality. It was designed primarily around off-the-shelf components. Prospero's electrical systems are powered by a OdroidXu4 computer. Several sensors implemented to allow Prospero to run autonomously, including two Microsoft cameras for vision tracking, a Blue Robotics depth sensor, and a Vectonav IMU (Inertial Measurement Unit) for orientation data. The power distribution system allows for up to five hours of testing.

Software

Prospero's software is what allows it to operate autonomously. It is structured around ROS (Robot Operating System). A state machine controlls each idividual task which the robot has to complete. All movment is controlled by a series of PID (Proportional, Integral, Derivitive) controllers, which use data from all of the sensors to determine how fast each thruster needs to move in order to accomplish the goal of each individual task.