PROCESSING UNITS

DANAS utilises two processing devices for its computational requirements.

It uses Arduino Mega 2560 as well as Raspberry Pi 2 Model B for
processing data from various sensors as well to process video. Both are
highly energy efficient as well as light in weight.
1) Arduino Mega 2560
Arduino Mega 2560 is a microcontroller based on ATMega2560. It has 54
digital input/output pins (of which 15 can be used as PWM outputs), 16
analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator,
a USB connection, a power jack, an ICSP header, and a reset button. It can
be easily powered by a USB cable while programming it and can be
powered using DC power source such as battery. The advantage of
Mega2560 is that it is compatible with shields (Shields are boards that can
be plugged on top of the Arduino PCB extending its capabilities) which is
low cost board that helps to increase its functionality.
Arduino Mega 2560 specifications:-
Microcontroller ATmega2560
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limit) 6-20V
Digital I/O Pins 54 (of which 15 provide PWM output)
Analog Input Pins 16
DC Current per I/O Pin 20 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 256 KB of which 8 KB used by boot loader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz
Length 101.52 mm
Width 53.3 mm
Weight 37 g

The Mega is easily programmed using Arduino Software IDE which make it
suitable for ease of use without complications.

The Mega 2560 can be powered via the USB connection or with an
external power supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter

(wall-wart) or battery. The adapter can be connected by plugging a 2.1mm
centre-positive plug into the board's power jack. Leads from a battery can
be inserted in the GND and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied
with less than 7V, however, the 5V pin may supply less than five volts and
the board may become unstable. If using more than 12V, the voltage
regulator may overheat and damage the board. The recommended range
is 7 to 12 volts.

Fig 1) Arduino Mega2560

2) Raspberry Pi Gen 2
 Fig 2) Raspberry Pi Gen 2

Raspberry Pi Gen 2 is the update to the original Raspberry Pi which

possess more computational power than Arduino Mega and function as a
mini-computer .The use of Raspberry Pi is to process the video captured
by the camera and store it into the 64 GB SD card attached to it. It also
serve to store data from Temperature sensor and Salinity sensor and store
in the SD card which can be accessed once the AUV surfaces from water.

Specification of Raspberry Pi Gen 2.

SoC: Broadcom BCM2836 (CPU, GPU, DSP, SDRAM)

CPU: 900 MHz quad-core ARM Cortex A7 (ARMv7 instruction set)

GPU: Broadcom VideoCore IV @ 250 MHz

More GPU info: OpenGL ES 2.0 (24 GFLOPS); 1080p30 MPEG-2 and VC-1
decoder (with license); 1080p30 h.264/MPEG-4 AVC high-profile decoder and encoder

Memory: 1 GB (shared with GPU)

USB ports: 4

Video input: 15-pin MIPI camera interface (CSI) connector

Video outputs: HDMI, composite video (PAL and NTSC) via 3.5 mm jack

Audio input: IS

Audio outputs: Analog via 3.5 mm jack; digital via HDMI and IS

Storage: Micro SD

Network: 10/100Mbps Ethernet

Peripherals: 17 GPIO plus specific functions, and HAT ID bus

Power rating: 800 mA (4.0 W)

Power source: 5 V via MicroUSB or GPIO header

Size: 85.60mm 56.5mm

Weight: 45g
Thrusters

BLUEROBOTICS T100

Fig 3) Thruster T100

The T100 is a thruster designed specifically for marine robotics.It is high performing
and durable.The T100 is basically a brushless electric motor .The T100 is made
of high-strength, UV resistant polycarbonate injection moulded plastic. The core of
the motor is sealed and protected with an epoxy coating and it uses high-
performance plastic bearings in place of steel bearings that rust in saltwater.
Everything that isnt plastic is either aluminium or high-quality stainless steel
that doesnt corrode. A specially designed propeller and nozzle provides efficient,
powerful thrust while active water-cooling keeps the motor cool. Unlike other
thrusters, our design doesnt have any air- or oil-filled cavities water flows freely
through all parts of the motor while its running and can handle extreme pressures.
The T100 comes with clockwise and counter-clockwise propellers to counter torque

Maximum thrust forward 2.36 kgf

Maximum thrust reverse 1.82 kgf

Minimum thrust .01 kgf

Rotational speed 300-4200 rev/min

Operating voltage 12 V

Maximum current 11.5 amp

Maximum power 130 watts

Length 102 mm

Diameter 94 mm

Weight in Air 295 g

Thruster Performance chart

The DANAS utilises 4 thruster for controlling its 4 degrees of

motion:Heave,Surge,Yaw and Pitch.The two thrusters are placed each on port and
starboard side and other two in front and back.Their coordinated motion results in
the 4 degrees of motion.The thrusters being specifically designed for underwater
robotic application is more energy efficient.

Altitude and Heading Reference System

CH Robotics UM7

The UM7 orientation sensor from CH Robotics is an Attitude and Heading Reference
System (AHRS) that contains a three-axis accelerometer, rate gyro, and
magnetometer. It combines this data using an Extended Kalman Filter to produce
attitude and heading estimates.
 The UM7 orientation sensor produces attitude and heading estimates from triaxial
accelerometer, rate gyro, and magnetometer data. Unlike a typical inertial
measurement unit (IMU), which only provides raw sensor readings, the UM7 features
an on-board microcontroller that combines sensor data using a sophisticated
Extended Kalman Filter (EKF) to generate orientation estimates 500 times a second.

Fig 3) UM7 orientation sensor.

UM7 takes advantage of newer MEMS (micro-electro-mechanical systems)

technology. As a result it offers precise data thus allowing better control of the AUV.
The UM7 is one of the cheapest AHRS to include all these features at a much lesser
cost and allows us to bring down manufacturing cost of the AUV.

Connections for power and TTL serial communication can be made to the UM7
through a polarized five-pin male connector on one side, which mates with an
included cable assembly. A pair of six-pin expansion headers on the other side of the
board provide additional connectivity options, including an alternative SPI interface
and a secondary serial interface that can be connected to an external GPS module .

Features

Excellent gyro bias stability over temperature

Adjustable low-pass filter and EKF settings provide customizable performance

for various applications

States and sensor data synchronized to GPS position and velocity using
optional external GPS module

Allows for alignment calibration and third-order bias and scale factor
temperature compensation for accelerometers, gyros, and magnetometer

Dimensions:27mm x 26mm x 6.5 mm

 Weight: 3.5 g
Operating voltage : 4V -5.5V
EKF estimation rate: 500 Hz
1 typical static pitch/roll accuracy
3 typical dynamic pitch/roll accuracy
3 typical static yaw accuracy
5 typical dynamic yaw accuracy
0.5 angle repeatability
0.01 angular resolution

TEMPERATURE SENSOR

DS18B20 SENSOR

DS18B20 Temperature sensor with waterproof

probe.

This is a pre-wired and waterproof version of the DS18B20 sensor. Since the cable is
jacketed in PVC it can operate in wide range of temperature as well. The digital
signals do not get degraded easily due to this enclosure. It is a 1-wire digital
temperature sensor and is precise (0.5C over much of the range) and can give 12 bits
of precision from the on-board digital to analog converter. The sensor is suited to work
with 3-5 Volt systems.
Cable specifications:

Stainless steel tube 6mm diameter by 30mm long

Cable is 91cm long , 4mm diameter

Contains DS18B20 temperature sensor

DS18B20 Technical specifications:

 Usable temperature range: -55 to 125C (-67F to +257F)

9 to 12 bit selectable resolution

Uses 1-Wire interface- requires only one digital pin for communication

Unique 64 bit ID burned into chip

Multiple sensors can share one pin

0.5C Accuracy from -10C to +85C

Temperature-limit alarm system

Query time is less than 750ms

Usable with 3.0V to 5.5V power/data

The sensor is cheap and reliable and can be interfaced with Raspberry Pi 2 easily.
The data is stored in the SD card and once the AUV surfaces it can be accessed.

WATER LEAK DETECTOR

DANAS is provided with a Water leak detector to protect it from sinking due to water
leakage. Since the vehicle is completely autonomous, there is always a possibility of
sinking due to leakage. Also if something like this happens all the electronic
components will get damaged. In order to protect it from such a worst case scenario,
it is provided with water leak detector in the bottom hull as well as top hull. Once the
leak detector detects a leak, the current mission is aborted and upward thrusters are
directed to full thrust upwards. Also an alarm is triggered from the inside to notify
the sudden rise of AUV to the surface.

The detector is cheap and is easily interfaced with Arduino Mega. The leak signals
are send to Arduino and Arduino sends it to the thrusters.
It is mainly comprised of three parts: An Electronic brick connector, a 1 M resistor,
and several lines of bare conducting wires.

The sensor works by having a series of exposed traces connected to ground and
interlaced between the grounded traces are the sense traces. The sensor traces
have a weak pull-up resistor of 1 M. The resistor will pull the sensor trace value
high until a drop of water shorts the sensor trace to the grounded trace. It will work
with the digital I/O pins of Arduino or it can be used with the analog pins to detect
the amount of water induced contact between the grounded and sensor traces. This
High Sensitivity Water Sensor can easily change the water size to analog signal, and
output analog value can directly be used in the program function, then to achieve
the function of water level alarm also.

Features

Working voltage: 5V

Working Current: <20ma

Interface: Analog

Width of detector: 40mm16mm

Working Temperature: 10C~30C

Weight: 3g

Size: 65mm20mm8mm

Low power consumption

High sensitivity

Output voltage signal: 0~4.2V

OBSTACLE DETECTION SYSTEM

DANAS utilises 5 ultrasonic sensors sensor to detect the obstacles in the

environment and guide its way through the task. The sensors are placed in the
forward, back, left and right end of AUV. The sensor used is the DYP-ME007
 Specifications:
Operating Voltage: DC 5V
Operating Current: less than 15mA
Operating frequency: 40KHz
maximum range: 4.5m
recently Range: 30cm
The trigger pin: 3: Trig / RX ;
Output pin: 2: Echo / TX
Output signal: PWM signal
Response time: 100MS
Resolution: approximately 1cm
Beam angle: 80 15
Work temperature: -20-75 C
Storage temperature: -20-80 C
Module Size: 41mm x 28mm x 1mm
Probe line length: 2.5m

The sensor is low cost as well comes with waterproofing for the oscillator from the
factory itself. This comes in handy as extra waterproofing need not be done. The
sensor signal are input to the Arduino and Arduino calculates the route for the
mission accordingly avoiding the obstacles.

DOPPLER VELOCITY LOG

DANAS utilises a mini LDV for measuring velocity as it is needed to give valuable
inputs to error correction that occurs in AHRS unit. Even though the AHRS unit have
inbuilt Kalman filters the error increases as the period of mission increases.

The LDV utilises two beams of collimated, monochromatic, and coherent laser light in
the flow of the fluid being measured. The two beams are usually obtained by splitting
a single beam, thus ensuring coherence between the two. The beam is focussed
according to focal length of the optics on the medium where velocity is to be
measured. The fluid particles reflects the beam and is detected by the detector and
subsequently fringes are obtained. The intensity of reflected beams change as speed
of medium from reflection occurs change. The frequency of the variation in light
intensity is proportional to the speed of the medium.

DANAS utilises mini LDV from Measurement Science Enterprise Inc.

Specifications:

Weight: 250g

Dimensions: 32x165 mm

PRESSURE SENSOR

Pressure sensor is used for accurate depth measurement. The sensor is calibrated to
find the depth of the AUV .The Pressure sensor used is the MS5803-14BA.

Specifications:

Operating Voltage - 1.8 to 3.6 V

Peak Supply Current - 1.4 mA

Operating Range - 0 to 14 bar

 Resolution - 1 / 0.6 / 0.4 / 0.3 / 0.2 mbar

I2C and SPI Interface

Gel Protected

MS5803-14BA Pressure Sensor is a high resolution pressure sensor with both an I 2C

and SPI interface. This MEMS pressure sensor measures the absolute pressure of the
fluid around it which includes air, water, and anything else that acts like a viscous
fluid. MS5803-14BA has a unique gel membrane and antimagnetic stainless steel cap
that protects against 30 bar water pressure.
The MS5803-14BA offers a resolution range of 1 / 0.6 / 0.4 / 0.3 / 0.2 mbar.

ELECTRONIC SPEED CONTROLLERS

Electronic speed controllers are essential to control the thruster output. Also they are
more suitable than other motor control devices. An electronic speed control or ESC is
an electronic circuit with the purpose to vary an electric motor's speed, its direction
and possibly also to act as a dynamic brake. These are commonly used with
brushless motors essentially providing an electronically generated three-phase
electric power low voltage source of energy for the motor.

The ESC used in DANAS is the Afro 30Amp ESC. Four thruster utilises one ESC each.

Specifications:

Current Draw: 30A Continuous

Voltage Range: 2-4s Li-Poly
BEC: 0.5A Linear
Input Frequency: 1 KHz
Discharge wire/plugs: 15AWG/Male 3.5mm
Motor wire/plugs: 16AWG/Female 3.5mm
Weight: 26.5g
Size: 50 x 25 x 11mm
CAMERA

The camera module is essential for image processing in the AUV. It helps to
determine the obstacle as video is processed by the processor for finding the
obstacles. The camera used is the Microsoft LifeCam Cinema Webcam. The camera
can record videos up to resolution of 720p.

Item Weight 231 g

Product Dimensions 4.6 x 2.4 x 5.6 cm
Item model number NPK-H5D-00001
Hardware Platform PC
Manufacturer Microsoft

The camera is assisted with custom build LED Flasher for poor lighting conditions
under the water. The LED flasher will be custom built according to the need and
positioning in the AUV. The custom LED Flasher will be cheaper comparing to
professional flashers available on the market and also energy efficient.

The video from the camera will be downgraded according to the processing power.
The camera will be powered from the USB port of the mini PC and flasher will be
powered externally

MANEUVRABILITY

DANAS has four degrees of motion.Heave ,Surge,Yaw and Pitch.Each degree of

motion is controlled with the help of thrusters.The thrusters are placed at the front
,back,starboard and port side of the AUV.The AUV is desinged to have independent
degree of motion control ie,at a time only one degree of motion is possible.This is
advantageous as system control becomes simple and also easy processing of sensor
inputs are possible.
The Roll and Sway is avoided.This makes the system less complex.

Heave :It is controlled by combined action of thrusters at the front and back end.The
thrusters are designed to be be providing thrust in downward direction under normal
working condtion since the AUV is positively buoyant .When the AUV need immediate
upward motion the thrusters are given opposite thrust.

Surge:The forward and Backward motion of AUV is controlled by the thrusters at the
sides.

Sway:This degree of motion occurs due to action of thrusters at the starboard and
port side rotating in the opposite direction depending upon the direction of sway

Pitch:The pitch motion also occur similar to the sway motion with the difference that
thrusters at the front and back end provide thrust in mutually opposite direction to
obtain this degree of motion.

Obstacle Avoidance

DANAS utilises four ultrasonic sensor to detect obstacles in the path and avoid it.Also
it works along with with predefined trajectory .The trajectory is designed with
autonomy using system sensors.The sensors are able to detect obstacle upto 3m
range.Also they can identify obstacles of dimension around 2 inch at the farthest
possible range.