ENSIETA Autonomous vehicle SAUC’ISSE. 09/07/2009 - 2 > Content 1.Introduction 2.Technical design 1.Mechanical description 2.Embedded electronic architecture.

ENSIETA Autonomous vehicle SAUC’ISSE

09/07/2009 - 2ENSIETA Autonomous vehicle SAUC’ISSE

> Content1. Introduction

2. Technical design1. Mechanical description

2. Embedded electronic architecture

3. Safety considerations

3. Craftsmanship

4. Conclusion

SAUC’ Interval Super Submarine of Ensieta

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Introduction

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Introduction

Team members– Fabrice LE BARS (PhD Student)

– Jan SLIWKA (PhD Student)

– Alexandre KABIL (Undergraduate student)

– Arnaud FERRE (Undergraduate student)

– Luc JAULIN (Professor)

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Technical design

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Technical Design : Mechanical Description

Aluminium made– Amagnetism – Resistance to corrosion– Watertight

2 aluminium plates with waterproof connectors (3 screws per plate)

Resistance to pressure up to 10 meters Stable in rolling and pitching

– Keel– Easy to equilibrate

3 thrusters (2 horizontal and 1 vertical) 2 removable Plexiglas stages inside

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Technical Design : Electronic Architecture

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Technical Design : Safety

It is Red : easy to spot ! Easy emergency switching by a brake Thrusters protected Electronics protection

– No leak for 3 years– Aluminium tube

• Good heat conductor Natural cooling

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Craftsmanship

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Craftsmanship

Simple mission planning through text files– Robust– Permanent– Repeatable

Everything is done with sonar New set membership methods

– Interval constraint propagation Faster algorithms– Q-intersection Taking into account sonar outliers

Offline mapping from log file Simulator demonstration

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Conclusion

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Conclusion

SAUC’ISSE is a simple and robust robot with new and efficient methods