Research Plan

Plan

Initially, we are working to get our vehicle operational and then underwater.  With the "U" and "V" part of AUV (autonomous underwater vehicle) accomplished, we will  be able concentrate on autonomy and our research objectives.

Schedule

1999
Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec
Finalize motor amplifier circuit 1
15
    
15
Design amplifier enclosure
20
20
    
20
Fabricate amplifier circuit and enclosure
20
 1  
31
Anodize and/or paint enclosures 5
15
Layout computer enclosure
20
 1
30
Design electronics mounting brackets 
20
15
Design wire harnesses 1   1
Fabricate power wire harness
15
31
20
20
Fabricate sensor wire harness
15
15
20
20
Fabricate communication wire harness 1 1
Fabricate benchtop power supply
15
 1
30
Fabricate battery power distribution 1 1
31
Mount computer cage
15
31
Install computing components
15
31
Boot Kambara 1  
20
Mount power electronics
15
31
Mount communication electronics 1 1
Mount and wire sensors 1
31
15
Mount and wire motor amplifiers 1
31
15
Mount and wire camera enclosures 1 1
Fabricate on/off switch 1 1
Fabricate leakage detector 1 1
Fabricate temperature sensor
15
31
Submerge Kambara
15
Test limited learning simulation 1  
30
31
Code & test complete learning simulation 1  
31
Design thruster controller 
15
 1
30
Design vehicle controller  1
30
31
Design command interface  1  
31
Design learning visualization interface 1
15
31
Develop dynamic model of thruster 1
30
Identify thruster parameters
30
    5
Develop dynamic model of vehicle 1
30
Develop complete dynamic model 1
15
Design state estimation algorithm 1 1  
15
Design navigation algorithms 
15
31
Design vision algorithms 
15
31
15
31
Calibrate cameras 1 1   
31
 1 1
Calibrate sensors 1  
30
Construct thruster test stand
15
15
Code thruster controller  1 1  
31
Test thruster control underwater 
15
31
    
20
Code vehicle controller 1  
30
31
Code command interface  1    
31
Code visualization interface 1
31
Code sensor drivers  1  
31
Code digitizer drivers  1   1
Code navigation sensor filter  1  
31
Code state estimation algorithm
15
31
Estimate egomotion (inertial) 1
Code navigation algorithm 1  
30
Code visual-tracking algorithm  1  
15
Code & test complete learning controller 1         31
Test visual tracking 
15
31
Code visual-servoing algorithms 
15
30
Estimate egomotion (visual) 1
Test inertial navigation 
15
  
30
Test visually-servoed control 1  
30
Test visually-guided navigation 1  
31
Test complete visual navigation 1  
31
Give undergraduate seminars
28
Write undergraduate theses
30
28
30
29
Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec
1998
Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec
Formulate project objectives
20
  
31
Construct test tank 
10
 25
Receive mechanical chassis
13
Specify motor power electronics  1
15
30
Specify computing power electronics 
31
15
Select batteries 
15
15
  
15
Investigate and select sensing devices  10  
31
Specify computing architecture 
15
15
Select computing components
15
30
  
15
Select motion control components 
15
30
  
15
Select cameras
20
17
Select video framegrabbers  1
31
Select I/O components  1
31
Purchase computing components 
15
 1  
15
Purchase sensing devices 
15
31
Specify communications tether 
15
 1
31
Purchase communications tether 
15
31
 5
Design motor power electronics 
15
15
31
Design computing power electronics 
15
15
15
Design battery charger 
20
30
30
31
Layout enclosures  1
31
31
31
Design battery mounting brackets  1 1
15
 1
Design electronics mounting brackets  15
31
 1
15
Design camera enclosure
20
24
 1  
15
Design upper enclosure extension 1  
15
Design fiber-optic gland 1  
15
Design motor servo controller  1
15
  
31
Design vehicle controller  1
30
  
31
Model physical system 1
30
Design state estimation algorithm 1
30
Design navigation algorithms  1
31
  
15
Design vision algorithms  1    
31
Install operating system 
15
 1
Configure development environment  1 1
Fabricate camera enclosures
24
31
15
 1
Fabricate battery mounting brackets  1 1
15
Fabricate electronics mounting brackets  1 1
15
 1 
Fabricate electronics wiring harnesses 1 1
15
Install computing components 
15
15
  
30
Assemble power electronics  1    
15
15
Assemble battery charger  1
15
30
Terminate tether 
30
31
Submerge submersible 
31
Code operator interface  1      
31
Code sensor drivers  1
31
  
30
Code pan/tilt driver 
20
15
15
30
Code camera drivers 
15
  
15
30
Code navigation sensor filter 
15
  
15
30
Code basic vision algorithms 
15
      
21
Code visual-tracking algorithm 
21
25
15
Code visual-servoing algorithm 
25
  
15
Test thrusters underwater  1
15
Test motor control underwater 
15
30
Test inertial navigation  1 1 1
30
Test visual tracking  1
30
Write undergraduate theses
30
20
30
28
Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec

Kambara Project at the ANURobotic Systems Laboratory
By David Wettergreen, <dsw@syseng.anu.edu.au>
Last modified: