Water Robotics

Water Robots, are basically a floating robot for various uses and needs. These robots can work and perform over or under water surfaces. The application in which these are used are cleaning water by collecting objects floating over water. participants of workshop will be taught to design and develop a robot which can float as well as can collect objects floating unanimously over water surfaces. These robots will be controlled by wired remote control from ground surfaces.

Prerequisites:-

Can access computer system and make use of internet to perform search over Google.

Need to Prepare?

Prior programming experience is not required.

Tools Expected:-

Windows OS based PC, Internet Connection, Notebook and Pen

Tools Provided (for the session):-

Hydrodynamic Robot Chassis, DC Motors, Depth Sensor, Microcontroller development board with thruster drivers, Programmer, Jumper wires and study material

Concepts:-

Operating System, Logic creation, Integrated circuit, Microcontrollers, Basic of electronics, Sensors and Motors

Summary:-

This workshop will be addressed with hands-on session about hydrodynamics of water vehicles including Autonomous Underwater Vehicle popularly known as AUV, Remotely Operated Vehicle, Submarines and Ships. 

Project:-

Designing, Development and Controlling of a under Water robot and testing in the tank.

Commitment:-

2 Days (7 hours each)

Agenda:-

Day 1
Session 1-  (03:30 hrs)
Brief introduction to under water robotics
  • Water robotics intro
  • Types of underwater robots
  • Applications
  • Future perspectives

 

Understanding Underwater/Surface water vehicles:
  • Conventional thruster based System
  • Surface water locomotion
  • The all thruster Models
  • Fin Rudder Models
  • Bio-mimic mechanisms

 

Underwater sensing system
  • Depth Sensors and Altitude sensors
  • Sonar (side scan sonar, over look sonar )
  • Acoustic Ranging (USBL,SSBL,SBL,LBL)

 

Session 2- (02:30 hrs)
Underwater Sensing System (Cont.)
  • GPS for surface water vehicles
  • Compass and IMU
  • Accelerometers and Gyroscopes
  • Underwater cameras

 

Fabrication of Robot
  • Open loop Behavior can be tested in the water tank
  • Understanding of Degree of Freedom of vehicle

 

Session Recap
Day 2
Session 1- (03:30 hrs)
Sensor Applications to embrace different abilities for robot
  • Station-keeping
  • Depth-only keeping
  • Obstacle avoidance
  • Towing arrays
  • Acting as surface beacon for communication
  • Survey Vehicle

 

Modeling of System
  • Understanding the Importance of Hydrodynamics
  • Modeling the vehicle for control

 

Control & Navigation
  • Remotely Operated control.
  • Autonomous Navigation using feedback control.
  • Various kinds of Autopilot.
  • Dynamic Positioning of Vehicle.
  • Online system identification.

 

Session 2- (02:30 hrs)
Development and Testing
  • Develop mission deployment plan and program the vehicle to do that – Dead reckoning.
  • Depth keeping deployment.

 

Session Recap

 

Zonal Round of SkillThon

  • Competition
  • Certificate distribution and acknowledgement