ENSIETA Autonomous vehicle SAUCISSE SAUC Interval Super Submarine

ENSIETA Autonomous vehicle SAUC’ISSE

SAUC’ Interval Super Submarine of Ensieta > Content 1. Introduction 2. Technical design 1. Mechanical description 2. Embedded electronic architecture 3. Safety considerations 3. Craftsmanship 4. Conclusion ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 2

Introduction ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 3

Introduction §Team members – – – Fabrice LE BARS (Ph. D Student) Jan SLIWKA (Ph. D Student) Alexandre KABIL (Undergraduate student) Arnaud FERRE (Undergraduate student) Luc JAULIN (Professor) ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 4

Technical design ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 5

Technical Design : Mechanical Description § Aluminium made – Amagnetism – Resistance to corrosion – Watertight § 2 aluminium plates with waterproof connectors (3 screws per plate) § Resistance to pressure up to 10 meters § Stable in rolling and pitching – Keel – Easy to equilibrate § 3 thrusters (2 horizontal and 1 vertical) § 2 removable Plexiglas stages inside ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 6

Technical Design : Electronic Architecture ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 7

Technical Design : Safety § § It is Red : easy to spot ! Easy emergency switching by a brake Thrusters protected Electronics protection – No leak for 3 years – Aluminium tube • Good heat conductor Natural cooling ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 8

Craftsmanship ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 9

Craftsmanship § Simple mission planning through text files – Robust – Permanent – Repeatable § Everything is done with sonar § New set membership methods – Interval constraint propagation Faster algorithms – Q-intersection Taking into account sonar outliers § Offline mapping from log file § Simulator demonstration ENSIETA Autonomous vehicle SAUC’ISSE 09/07/2009 - 10