Autonomous Underwater Robot construction kit

Micro Underwater Robot (MUR)

Manual Please, read instructions carefully before product exploitation and keep this

manual for further use.

Autonomous Underwater Robot construction kit Micro Underwater Robot (MUR) Designed and manufactured by Center of Robotics LLC, www.mutrproject.com

1 Komsomolskaya street, Vladivostok, Russian Federation, 2017

Contents

Before exploitation ........................................................................................................ 3 Caution and usage recommendations .................................................................................. 3 Requirements for exploitation conditions ........................................................................... 3 Underwater exploitation of device ....................................................................................... 3

1 General information ................................................................................................... 4

2 Kit purpose and application domain ......................................................................... 4

3 Kit contents .................................................................................................................. 5 3.1 Hardware ............................................................................................................................ 5 3.2 Software .............................................................................................................................. 5

4 Technical specifications .............................................................................................. 6

5 Usage details ................................................................................................................ 8 Buoyancy control ..................................................................................................................... 8

6 Instruction of typical underwater robot assembling ............................................ 10

7 Operability Review .................................................................................................... 17 Off water tests ....................................................................................................................... 17 Underwater tests ................................................................................................................... 18

8 Storage, transportation and disposal ..................................................................... 18

9 Warranty ..................................................................................................................... 18

10 Kit parts list .............................................................................................................. 20

Before exploitation

Caution and usage recommendations Foreign particles may adhere to inner sides of housings and сonnectors’ cups

(around rubber lids) at opening or closing in environments containing high amounts of sand, dust etc. This may result in disruption of waterproof properties of the device.

In case of contamination of inner side of lid or cup with foreign particles - remove them with dry lint-free fabric. Additional lid treatment with silicone grease is recommended.

If there is liquid (water) on the device or on any inner part of cup or connector - remove it with dry soft cloth. Do not open or close cups near water, under water, with wet hands or when the device itself is wet - it can cause water ingestion.

Avoid heavy shocks and vibrations, do not drop device or its parts, do not knock on it. Do not apply high pressure on the device (submersion deeper than 5 m).

Requirements for exploitation conditions When care and maintenance conditions described in this document are met, the

device can function under water not deeper than at 5 m depth. Absence of defects or malfunctions as well as watertightness under any other circumstances are not guarantied.

Watertightness is also not guarantied if the device undergoes shock impact as a result of fall, strike, etc. If the device does undergo shock impact, the manufacturer, Center of Robotics, should be contacted for the device watertightness testing.

If the device contacts washing liquid, soap, hot water, sunscreen or any chemicals - remove them as soon as possible.

Watertightness is only applicable to fresh water and sea water. Warranty does not cover any defects in the device caused by improper

maintenance or not meeting proper exploitation conditions by user. Does not leave the device for prolonged time in low (below 0 C) or high (higher

than 40 C, for example under direct sun rays) temperature - it can cause the decrease in watertightness.

Underwater exploitation of device Use the device under water not deeper than at 5 m depth and at water

temperature between 0 C and 40 C. Does not submerse the device deeper than 5 m. Does not use the device in the hot water with temperatures higher than 40 C (in

bath or hot spring, for example). Does not open or close caps under water. Does not apply shocks at the device, especially under water (watertightness can

fail and the water will get inside the device).

1 General information Before working with MUR the underwater robot construction kit please consult

the exploitation manual paying special attention to the safety recommendations. Assembly and launch of the underwater robot by anybody under 18 is only

allowed under adult supervision. In process of assembly adult supervisor should provide safety of electrical devices, instruments and workplaces.

Launches of the underwater robot in the natural and artificial water basins should be held with the compliance to the general rules of behavior near water basins. Possibility of launch at any given place is determined by the rules of usage of that specific recreational object or water basin.

2 Kit purpose and application domain MUR kit is intended to be used for assembly of underwater robot (underwater

vehicle). Submersible craft that is made from kit components can be used for demonstrational and educational purposes. Just like submersible vessels used in oceanography and sea shelf development, autonomous unmanned underwater vehicles (AUVs), MUR-based apparatus is capable of moving itself around water media in predefined way by its thrusters, photographing underwater objects and sea floor. MUR includes position sensors, which in combination with processing videocapture data allows for underwater navigation similar to industrial underwater robotic systems.

MUR base kit enables a variety of operative underwater vehicle configurations which stimulate learning the basics of design and assembly of underwater vehicles. Rich capabilities of the embedded Intel® Edison computing platform allow for learning and validation testing of automatic control and underwater navigation algorithms. Learning computer vision and automatic control algorithms is possible through utilizing supplied video cameras and hydroacoustic sensors.

3 Kit contents

3.1 Hardware Sheet 1

# Module name Module description Quantity

1 On-board computing module Programmable autopilot module based on Intel Edison microcomputer. Includes orientation sensors.

1

2 Underwater thrusters Thruster with cable and connector 3

3 Battery unit Compartment with cable and connector for installation of 14 AA batteries (AA batteries not included)

1

4 Camera module Video camera module in watertight case with cable and connector based on USB 2.0 HD camera

2

5 Depth sensor Depth sensor with cable and connector 1

6 Construction parts kit Balks, squares, arcs - 137 pcs. M6 screws - 66 pcs. Nuts M6 - 70 pcs. Screws M3 - 164 pcs. M3 nuts - 200

pcs.

1

7 Buoyancy kit 15 floats (+100g) with fixing plastic screws and M6 nuts

1

8 Package Corrugated cardboard box with lodgment 1

9 Set of operational documentation

Passport, instruction manual 1

3.2 Software Sheet 2

# Module name Module description Quantity

1 MUR_IDE Software that allows the user to program the actions of an underwater robot on a PC.

1

2 On-board computing module software

Provides interaction of the on-board computer with other devices of the kit connected to it

1

4 Technical specifications General specifications of the kit:

− Gross weight – 5,5 kg

− Net weight - 4 kg

− Overall dimensions (in a packing box) - (L x W x H) 380 x 285 x 285mm

− Depth of immersion: up to 5 m

− Depth positioning accuracy: 2 cm

− Course positioning accuracy: 5 degrees

− Connectivity: Wi-fi

− Programming language: С++

− Onboard computer: based on Intel Edison Performance computer vision system: 4-6 images per second (at a resolution of 320x480)

− The thrust of a single thrusters: up to 0.14 kgf (with the maximum charge of batteries)

Technical characteristics of the typical underwater vehicle (described in paragraph 6) assembled from the elements of the set:

− Weight on air: 3,5 kg

− Autonomy: up to 45 minutes at maximum load

− Autonomy: up to 85 minutes in nominal mode

Main technical characteristics of MUR assembly units

Sheet 3 Parameter name, technical characteristics Value

Onboard Computer Module Weight on air / in fresh water, kg 0.618 kg Range of supply voltages 12 - 21.5 V Maximum consumption current 500 mA Interfaces of communication Wi-Fi Number of I2C ports 2 Number of ports for connecting cameras 2 Number of ports for power supply connection 1 Number of ports for connecting propellers 4 Accuracy of roll / trim measurement +5 deg. Frequency of measurement of navigation data 10 Hz

Underwater thruster Weight on air / in fresh water, kg 0.4 / 0.04 Overall dimensions (L x W x H), mm 150х150х150 Propeller (L x Pitch) 90х6 Forward thrust 0.14 kgf Supply voltage range 6-12 V Maximum current consumption 1 А Protection against the propeller stopping Yes Protection against short circuit in the engine No Communication interface PWM

Battery unit Weight on air / in fresh water without batteries, kg 0.494 kg Overall dimensions (d х l), mm 160х60 Maximum electric charge 2.7-3.2 Ah Output voltage range of the module 16.4-21 V Maximum discharge current 2.7-3.2 A

Camera Module Weight on air / in fresh water, kg 0.174 Overall dimensions (d х l), mm 65x55 Power and Communication Interface USB 2.0 Maximum consumption current 140mA Maximum image resolution 1288 x 728, HD Pixel size 3 x 3 μm The size of the matrix 3864 x 2184 μm ADC resolution 8 Bit / pixel Shutter floating Maximum frame rate per second 30 Image output format YUY / MJPEG

Depth sensor Maximum measured depth 15 m Depth measurement accuracy +2 cm The accuracy of measuring the magnetic course +5 deg.

Assembly units of the MUR kit contain third-party purchased products (see Sheet

4), operational documentation for which can be provided on request.

Sheet 4

# Name Model

1 On-board computing unit Intel® Edison (EDI1.SPON.AL.S)

2 Pressure sensor MS5803-14BA

3 Navigation sensor 10DOF Sensor GY-910

4 DC-DC Modular Converter NSD15-12S12

5 Camera Module USB2.0 HD Camera Module JD-1011

6 Microcontroller for communication with peripherals

Tiva TM4C1294XL MCU Microcontroller

5 Usage details "MUR" is an automated system that requires an external (not included in the set)

computer for the implementation and debugging of algorithms. It is only allowed to connect devices and modules included in the kit or

recommended by the manufacturer to the on-board computer module. Do not short-circuit the contacts of the connectors with each other. When connecting and disconnecting devices and modules, make sure that there are no moisture, debris, or corrosion in the sealed enclosures. It is permitted to open sealed enclosures only in the absence of moisture on any part of the apparatus.

Only AA batteries with voltage not exceeding 1.5 V and a capacity of not more

than 3200 mA are allowed for use. Before operating the unit in water, it must be ensured that all of the unused

connectors of the autopilot unit are fitted with plugs. Before using the device, make sure that the insulation of all of the cables is not

damaged neither broken. Before connecting external devices and modules to the autopilot, make sure that

the contacts on the connectors are not damaged or deformed. Do not subject the kit to shock as this can disrupt the watertightness of the

electronics units enclosures and lead to the failure of the devices.

Buoyancy control To ensure correct operation of the thrusters system and increase the battery life,

it is necessary to carry out ballasting and stability calibration (reaching about zero buoyancy and near zero roll and pitch).

The kit includes floats, which are recommended to be placed on the top of the device and fastened with M6 plastic fixing screws. Gradually attaching the floats to the assembled apparatus (the assembly instruction for the typical robot is given in chapter 6), ensure that the device is kept on the surface of the water, while if it is slightly pushed down by hand, it slowly starts to fall under the water, then slowly rises

to the surface. It is desirable to achieve such buoyancy that the device, when power is turned off, would slowly surface instead of going to the bottom.

Using metal bolts M6 and working with the placement of floats, thrusters, battery unit and on-board computer module, both the roll and the pitch of the device should be eliminated (deviation from the horizontal plane on the sides and in the direction nose / rear end). If ballasting and stability calibration are performed well, the device will be slightly from under the water by the upper planes of the floats.

It is necessary to observe safety precautions when working with thrusters: it is forbidden to touch the propeller propeller blades with the power connector of the device connected. Blades are made of durable plastic and have sharp edges and can rotate at a speed of more than 3000 rpm, which can lead to injury. It is also forbidden to thread the cable through the propeller blades, or to insert any objects into the propellers.

6 Instruction of typical underwater robot assembling

1. Take 2 linear 9-hole balks and 2 linear 7-hole balks, then fasten them with 4 M3x8 fixing screws and 4 M3x12 fixing screws with 8 M3 nuts, as shown in figure 1:

Figure1

2. Take 2 linear 9-hole balks, 4 linear 6-hole balks, 8 L-shaped 2-hole balks,

connect them with 16 M3x8 fixing screws with 16 M3 nuts, and also 4 M6x10 fixing screws and 4 M6 nuts, as shown in the figure 2:

Figure 2

3. Take 2 9-hole girders with rounded corners, 2 linear 1-hole balks and attach them with 4 M3x12 fixing screws using 4 M3 nuts, as shown in figure 3:

Figure 3

4. Take 1 linear 1-hole balk, 3 linear 4-hole balks, 1 linear 7-hole balk and attach

them to the already created frame using 8 M3x8 fixing screws with 8 M3 nuts as shown in figure 4:

Figure 4

5. Take 1 linear 1-hole balk, 1 linear 2-hole balk, 1 L-shaped 2-hole balk and attach to the frame with 2 M3-10 fixing screws using 2 M3 nuts, as shown in figure 5:

Figure 5

6. Take 2 linear 3-hole balks and 2 L-shaped 2-hole balks and attach them to the

assembled frame with 8 M3x8 fastening screws using 8 M3 nuts as shown in figure 6:

Figure 6

7. Take 2 linear 3-hole balks and 1 L-shaped 2-hole balk and attach them to the assembled frame 6 with M3x8 fastening screws using 6 M3 nuts as shown in figure 7:

Figure 7

8. Take 1 linear 7-hole balk, 4 L-shaped 2-hole balks and using them attach to the

assembled frame the on-board computer module, with 8 M3x8 fastening screws and 8 M3 nuts, as shown in figure 8:

Figure 8

9. Take 2 L-shaped 2-hole balks and using them attach the battery unit to the assembled frame with 4 M3x8 fastening screws, 4 M3x10 fastening screws, 4 M3x30 fixing screws and12 M3 nuts, as shown in figure 9:

Рисунок 9

10. Take 3 thrusters and attach them to the assembled frame using 2 linear 1-

hole balks, 2 fixing M3x6 screws, 4 fixing M3x10 screws, as shown in figure 10:

Рисунок 10

11. Take the depth sensor and attach it to the assembled structure with 2 M3x8

fastening screws and 2 nuts M3 module, as shown in figure 11:

Figure 11

12. Take 2 video camera modules, 2 linear 1-hole balks, 2 L-shaped 2-hole balks

and attach the video camera modules to the assembled frame with 6 M3x8 fastening screws, 2 M3x10 fixing screws and 4 M3 nuts, as shown in figure 12:

Figure 12

13. Take 14 floats and fasten them to the assembled frame with 14 M6x80 plastic

screws using 14 M6 plastic nuts, as shown in figure 13:

Figure 13

7 Operability Review

Off water tests 1. Insert 14 charged AA batteries into the battery pack 2. Connect the battery connector to the "Power" connector of the on-board

computer module 3. Press twice (the time interval between the presses should be 1-3 seconds) on

the button switch on the on-board computer module. Indicator LEDs should light up green (charge more than 25%) or yellow (charge less than 25%) color.

4. Connect 3 thrusters to the on-board computer module. Use the "Thrust" connectors.

5. If you are using a new kit, then there is a thruster control program preloaded in the on-board computer module. If the on-board computer has already been used, then the program "Hello, motors!" should be loaded onto it using MUR IDE. To start the program from the on-board computer, the button should be pressed once, the program will start 3-4 seconds later. The propellers of all the thrusters are programmed to rotate for 5 seconds in a clockwise direction. After that the program will be completed.

6. Checking the working capacity of the cameras: - Connect to the device using Wi-Fi. The Wi-Fi network name must look like MURMUR-XX-XX, where XX-XX is the last 4 digits of EdisonID. Connection password is “vladivostok” (for changing the password, refer to the Intel Edison documentation). - Start MUR IDE (you can download it from http://murproject.com/files/InstallerOffline.exe ), connect the camera modules to the "Cam" connectors of the on-board computer module, connect the battery pack, turn on the on-board computer unit by pressing the button twice. - In MUR IDE, add the Camera panel (view-> Camera) to the working area, click the Play button. In the window you will see a picture from the cameras. Use the drop-down menu to switch between cameras. 7. To test the image recognition system, use the example "Centrating on

Rectangle". Open the example, press the Run button, bring the image of the square to the camera. If the image is in the center of the picture from the camera, then the engines should not spin. If the square deviates from the center of the picture, a vertical propeller (propeller C) should rotate. If the image of the square is horizontally deviated from the center of the picture, horizontal propellers A and B should rotate.

8. Checking the operation of all sensors: - Switch off the on-board computer module by pressing the button twice. Connect the sensors to the "Payload" connectors, turn on the on-board computer module by pressing the button twice. Connect to the Wi-Fi network MURMUR-XX-XX, where XX-XX is the last 4 digits of EdisonID and start MUR IDE.

- In the lower left corner there is a window with icons of the connectable devices. If the operation of the sensors is correct in the sensor panel below the icons with the inscriptions I2C, the numerical data from the sensors should appear. The readings can vary within a small range without changing the position of the sensors.

Underwater tests 1. Assemble the robot according to the instructions in chapter 6. 2. Make sure that all the connectors are connected, and unused ones are closed

with plastic covers. 3. Check that all the devices are working on the table. Use the instructions "Off

water tests". 4. Turn the robot off, then check for leaks, lowering the robot into the water in

the off state. 5. If there is no water in the autopilot unit, then turn it on and check it in water

using the depth stabilization example “Depth proportional regulator". The robot should submerge to a depth of 30 cm (the depth of immersion of the pressure sensor) and hold at this depth for 20 seconds.

6. For the correct operation of the depth stabilization algorithm, it is required to achieve about zero buoyancy for the assembled autonomous underwater robot and achieve about zero roll and pitch values (ballasting and stability are described in chapter 5).

7. Example implementations of image recognition algorithms, work with the thrusters system and external sensors are given in the help embedded to MUR IDE.

8. To test the image recognition system underwater, use the “Centrating” example: open the example, press the Run button, release the unit under the water, bring the image of the square to the camera in the underwater position. If the image is in the center of the picture from the camera, the unit stabilizes at the current depth. In case of the vertical deviation of the square from the center of the image on the camera, the device must follow the image. When the picture of square is held still, the device should stabilize at the current depth.

8 Storage, transportation and disposal Store at -5 to 45 ° C Operate at 4 to 35 ° C

9 Warranty The elements of the frame are covered by a lifetime warranty. The electronics components are subject to a limited warranty period of 3 months

from the date of signing the sales contract. In case of violation of the operating

conditions (use of the product outside the range of these temperatures, diving to a depth of more than 5 meters, shocks), the warranty is removed.

In case of occurrence of warranty obligations, the buyer at his own expense sends the entire kit to the "Center of Robotics" LLC (Russia, Vladivostok, Komsomolskaya Str., 1, office 404). Diagnosis and repair are carried out within 40 working days. In the event of a violation of the operating conditions, a written notice to the buyer of the impossibility of performing the warranty repair or replacement is provided.

10 Kit parts list

Linear 9-hole balk 6 pcs.

Linear 7-hole balk 8 pcs.

Linear 6-hole balk 8 pcs.

Linear 5-hole balk 8 pcs.

Linear 4-hole balk 4 pcs.

Linear 3-hole balk 6 pcs.

Linear 2-hole balk 15 pcs.

Linear 1-hole balk 15 pcs.

T-shaped 8-hole balk 2 pcs.

T-shaped 6-hole balk 2 pcs.

9-hole balk with rounded corners 2 pcs.

4-hole arc 4 pcs.

Semicircular 13-hole balk 4 pcs.

Angular 3-hole balk 4 pcs.

Square 4-hole balk 4 pcs.

L-shaped 2-hole balk 30 pcs.

U-shaped 4-hole balk 15 pcs.

Mounting screw M6-16 15 pcs.

Mounting screw M6-12 15 pcs.

Mounting screw M6-10 15 pcs.

Mounting screw M6-8 15 pcs.

Mounting screw M6-60 6 pcs.

Nut M6 70 pcs.

Mounting screw M3-30 8 pcs.

Mounting screw M3-20 8 pcs.

Mounting screw M3-12 15 pcs.

Mounting screw M3-10 25 pcs.

Mounting screw M3-8 100 pcs.

Mounting screw M3-6 8 pcs.

Nut M3 200 pcs.

Extruded polystyrene foam float 15 pcs.

Plastic mounting screw M6 - 45 35 pcs.

Plastic mounting screw M6 - 80 16 pcs.

Plastic nut M6 - 80 35 pcs.

Depth sensor 1 pcs.

Camera module 2 pcs.

Battery unit 1 pcs.

Underwater thruster 3 pcs.

On-board computer(autopilot) module 1 pcs.