Functional Decomposition SPSU - AUV 2005

Command & Control

Team Members: Chris Walker Lab Day: Tuesday
  1. Keep track of time
  2. Communicate via ethernet to shore
  3. Collect and store data(independant of power)
  4. Push a light(Docking station A)
  5. Maintain depth
  6. intialize all sub-systems
  7. Specify course we are on
  8. Turn off sub under program control

Power/Structure

Team Members: Aaron Eller, Matthew Bruce Lab Day: Tuesday
  1. Water tight at 40ft.
  2. Balanced horizontal stability
  3. 0.1 bouyancy
  4. Below 110 lbs
  5. Monitor battery state
  6. Monitor power consumption
  7. Provide necessary voltages and currents
  8. Emergency shutoff
  9. Lifting strategy for crane
  10. Lifting strategy for transport
  11. Protection for front from station A
  12. External start/reset
  13. Dectect contact with Station A

Propulsion

Team Members: Michael Dendy, Daniel Davis Lab Day: Thursday
  1. Move forwards at a variable speed
  2. Move backwards at a variable speed
  3. Stop
  4. Turn 360° horizontally to the left and right
  5. Dive
  6. Surface

Navigation

Team Members: Andrew Limenkohl, Dave White Lab Day: Tuesday
  1. Measure current depth
  2. Measure instantaneous velocity
  3. Measure offset angle of vehicle
  4. Tilt sensor

Sonar

Team Members: John Mahor, Chris Deloach Lab Day: Thursday
  1. Active SONAR for collision avoidance
  2. Determine location of active pinger

Vision

Team Members: Sharon Manga Lab Day: Tuesday
  1. Camera for vision
  2. Locate organge pipe on bottom
  3. Locate bin B
  4. Detect omnidirectional light
  5. Locate omnidictional light relative to Sub location(Green or Red)
  6. Determine direction of organge pipe
  7. Detect end of pipe
  8. Detect Blob

Marker Launch

  1. Release marker into bin B
  2. Marker falls straight and true
  3. Marker must be less the 1.5 lbs