USAL Autonomous Underwater Vehicle

Project USAL is the second autonomous submarine we built in the Mobile Robot Lab at The University of Western Australia. The shell of an USAL ROV (remotely operated vehicle) has been used as the basis for this design. The ROV has been stripped by its electronics and umbilical cord, and an EyeBot controller with infrared sensors and a digital camera have been used as substitutes. This project commenced in 2005 and sought to begin development on mechanical, control, sonar, navigation, vision and communication systems for the vehicle. The 2005 team consisted of international visitors and final year students, Bernhard Gerl, Michael Drtil, and Aaron Cha, supervised by Thomas Braunl.

Equipment

• Mechanics
  • Single PVC hull
• Controller
  • EyeBot M4 as main controller for sensors and actuators
  • Mini-PC for image processing
• Sensors
  • 6 infrared distance sensors (PSD)
  • depth sensor (pressure gauge)
  • digital compass
  • digital 3-axes accelerometer
  • EyeCam digital camera
  • Leak sensors
  • power control gauge
• Actuators
  • 1 stern trolling motor
  • 2 control surfaces actuated by servos
  • 1 bow rudder pump for small movements
  • 1 camera movement servo
• Communication (when surfaced)
  • IR remote
  • Bluettoth (EyeBot)

Acknowledgements

• Thanks to Alec Duncan from the Marine Science Institute of Curtin University for letting us have one of the donated USAL ROV shells and for plenty of valuable discussions.

Links

• USAL videos
• USAL images
• AUV main page

Thomas Bräunl, 2006