Newsgroups: comp.robotics
Path: brunix!sgiblab!swrinde!cs.utexas.edu!usc!elroy.jpl.nasa.gov!decwrl!tribune.usask.ca!kakwa.ucs.ualberta.ca!news
From: adrian@niagara.ucs.ualberta.ca (Adrian Smith)
Subject: Research help requested
Message-ID: <1993Oct1.143050.18981@kakwa.ucs.ualberta.ca>
Sender: news@kakwa.ucs.ualberta.ca
Nntp-Posting-Host: niagara.ucs.ualberta.ca
Reply-To: adrian@niagara.ucs.ualberta.ca
Organization: University Of Alberta, Edmonton Canada
Date: Fri, 1 Oct 1993 14:30:50 GMT
Lines: 48

Dear comp.robotics members:

	A group of computing science undergraduates here at the University of  
Alberta are attempting to design and construct a simple Autonomous Underwater  
Vehicle. We would appreciate some help in deciding our design issues.

1) Body design.
	We are considering two designs. One is a completely cylindrical body, 
	encompassing a central drive unit (a engine tube running down the 
	longitudinal axis INSIDE the body of the vehicle. This motor would provide
	thrust down the long axis of the vehicle). This vehicle would probably 
	require external thrusters for attitude and directional control. 
	The second is a vehicle very similar to the NPS AUV designed by 
	Bruntzman et al. (see the 1992 IEEE Symposium on Autonomous Underwater 
	Vehicle Technology). This platform would resemble the traditional 
	peopled submarine, with twin screws providing thrust down the long axis 
	and planar surfaces for attitude and directional control.

2) Propulsion/Directional Control
	Again, we have two designs. We are looking at either external thrusters
	providing all stability and directional control, or the internal twin 
	screw concept.
 
3) Collision avoidance
	We have been considering the problem of collision avoidance hardware 
	and have come to an impasse. Complex sonar is beyond our budget, but we
	don't know if photocell technology will be workable underwater.
	(I should add, the vehicle is intended to be used in a pool environment 
	as a proof-of-concept. No real world tests are intended). We would be happy 
	to test the photocell theory, but initial pointers on the subject would be 
	welcomed.


We would appreciate any references, personal experiences, ideas, or plain old advice  
that anyone could offer us on these topics. I will also sumamrize the responses to  
this group if there is enough interest.



Thank you for your time.

--
Adrian Smith

---
University of Alberta Computing and Network Services Consultant
NeXT Campus Consultant
adrian@niagara.ucs.ualberta.ca
