Electrical & electronics systems
CENTRAL CONTROL SYSTEM
The CCS (Central Control System) will run the IA and the MCS (Mission Control System). It will include an SSD memory and the ability to record all mission data. Moreover the brain of our system is a “Raspberry Pi” computer Model-B Rev2 single-board computer which includes an ARM1176JZF-S 700 MHz processor and 512 megabytes of RAM, in order to achieve better processing rates, we have overclocked the processor to 1 Ghz.
SENSOR FUSION SYSTEM
The SFS (Sensor Fusion System) will process the information of all underwater sensors. Consist of a “Raspberry Pi” computer Model-B Rev2. The system is able to record and reproduce the data throughout the mission in a SSD (Solid State Disk). It is connected to Sensors System via USB link.
LIGHTING CONTROL SYSTEM
MACHINE VISION SYSTEM
PROPULSION CONTROL SYSTEM
The PCS (Propulsion Control System) consists of a series of power-electronics and microcontrollers that determine and control the power of the motors, actuators and flow control valves. The system is autonomous, is connected via USB to the Sensor Fusion System and controlled by PWM signals. It comprises an STM32ARM-M4-core processor to generate these 4 PWM signals and an H-Bridge MOS-Power-FETs electronics.
The MVS (Machine Vision System) will process information from four high-definition CMOS cameras each one connected to a Raspberry Pi Model-B Rev2 that will pre-process the images. The Raspberry Pi are connected to the SFS (Sensor Fusion System) and CCS (Central Control System) by ethernet. The vision system is supported by a LED lighting system
The robot uses frontal and ventral adaptative illumination from LEDS. It has 3 different options, long medium and short illumination to help the MVS (Machine Vision System). Each LED is paired with a collimator and a sink. The LCS (Lighting Control System) is controlled by a STM32 DSP and PWM signals.
