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Acknowledgement: (Abhishek Bhogill) 2309229

The document expresses gratitude to several people who helped make the author's seminar a success, including directors, principals, and professors at Ambala College of Engineering. It thanks Prof. Ashok Kumar for his support in completing the report. The abstract describes an autonomous underwater vehicle (AUV) being developed at SDSU for an international competition. The AUV uses sensors like sonar and a depth sensor to navigate a course and deliver a payload without outside communication. The team's goal is to build a fully autonomous submersible vehicle to compete in 2004.

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53 views

Acknowledgement: (Abhishek Bhogill) 2309229

The document expresses gratitude to several people who helped make the author's seminar a success, including directors, principals, and professors at Ambala College of Engineering. It thanks Prof. Ashok Kumar for his support in completing the report. The abstract describes an autonomous underwater vehicle (AUV) being developed at SDSU for an international competition. The AUV uses sensors like sonar and a depth sensor to navigate a course and deliver a payload without outside communication. The team's goal is to build a fully autonomous submersible vehicle to compete in 2004.

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saini_sahil
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© Attribution Non-Commercial (BY-NC)
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Download as DOCX, PDF, TXT or read online on Scribd
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ACKNOWLEDGEMENT

I want to express my gratitude to all the people who helped to make my seminar a success. I am very thankful to Dr. J.K. Sharma, Director, Dr. Ashawant Gupta, Principal of Ambala College of Engineering & Applied Research, Ambala. I am duly bound to express my sincere token of gratitude to Prof. Ashok Kumar, Head, ECE Department, Ambala College of Engineering & Applied Research, Ambala, who give his full support and help that I required in completing this report. I am also thankful to our seminar coordinator Er. Vijay Kumar Anand, Assistant Professor, ECE Department, Ambala College of Engineering & Applied Research, Ambala. This work will surely help me to develop my imagination skills.

(Abhishek Bhogill) 2309229

ABSTRACT
The AUV is scale long surfboard equipped with two side mounted Minnkota 30lb thrust trolling motors and three vertically mounted levelling motors. The conceptual design was fabricated in house using epoxy resin with fiberglass, carbon fibre, and Kevlar. The result is a 42" x 18" x 8" hull capable of withstanding changing water and pressure environments as well as impact damage. The competition requires that the vehicle navigate a course and deliver a payload to a specified target without outside communication. The SDSU AUV is designed to meet these requirements by interfacing a central processing unit to 6 peripheral devices for intelligent control of the vehicle. The peripheral devices are passive and active sonar, which assist in navigation by sensing the edge of the facility and the end target; inertial navigation guides the vehicle in a flat and straight motion, the depth sensor provides vital information on the depth of the vehicle; vision locates targets, and motor control provides smooth movements of the boat. The team goal is the completion of a fully autonomous submersible vehicle to compete in the 2004 International AUV competition.

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TABLE OF CONTENTS
Acknowledgments Abstract List of Figures i ii iv 1 1

Chapter 1 INTRODUCTION
1.1 Introduction

Chapter 2 A.U.V NAVIGATION


2.1 2.2 2.3 2.4 Dead Reckoning navigation Radio navigation Optical navigation Acoustic navigation

2-6
2 3 4 4

Chapter 3 MULTISENSER DATA FUSION


3.1 3.2 Benefits Problems and issues

7-8
7 8

Chapter 4 THE BEST VIRTUALIZATION SOFTWARES


4.1 4.2 4.3 Levels of M.S.D.F M.S.D.F Algorithms M.S.D.F Techniques

9-16
9 10 12

Chapter 5 CONCLUSION REFERENCES

17 18

iii

LIST OF FIGURES
Figure No. 2.1 4.1 4.2 4.3 4.4 Name of Figure USBL System Process of making Maps by M.S.D.F An A.U.V being developed in lab AUV Marius is sailing underwater just above the seaweed A flat-fish type Autonomous Underwater Vehicle (AUV) is tested in towing tank and open water for resistance and maneuverability Page No. 6 15 15 16 16

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