Meeting Summary
from: 29Apr98 at 9:00am 
with:Chris, Dale, Jack, David, Samer

  • Discuss Kalman paper by Welch and Bishop
  • Review volume and mass of AUV and components
  • Update on KVH compass
  • We discussed the Welch and Bishop paper and as an exercise began to work ou the details of Kalman filter for our system. Dale will continue to develop this.

    Chris and David have been working on a standards document and notes on using CVS. Chris has built and interface (RS422-to-RS232) for the KVH gyrocompass borrowed from University of Wollongong. Chris has been developing some VxWorks code for interfacing temperature sensors. We ordered a pressure sensor (from Sensortec) which should arrive soon. Chris is waiting on several Siliconix chips for the power amplifiers. Jack has been grabbing images and looking into optics; next the VxWorks device interface for the Sony camera. Dale has worked out the AUVs volume and has begun to design a filter for the KVH data; next testing the pressure sensor and KVH. David has set up the /home/sub directory and CVS; next the project-wide Makefile structure and an architecture design for the AUV system.

    The AUV volume is approximately 117 liters, determined by measureing length and diameter of the various components. [Details to follow.] This is believed to be accurate to within several liters. The AUV frame and motors have mass of 66.5 kilograms. Six of the lead-acid batteries we are considering have mass 6*6.1kg = 36.6 kilograms. Each liter displaces 1 kilogram of water to a neutrally bouyant vehicle must weight 117 kilograms. This means we have 117-(66.5+36.6) = 14 kilograms for the remaining components. Camera enclosures will displace a few more liters.

    By David Wettergreen,  <>
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