ENSIETA Autonomous vehicle SAUC’ISSE

ENSIETA Autonomous vehicle

> ^Content

1. Introduction

2. Technical design

1. Mechanical description

2. Embedded electronic architecture 3. Safety considerations

3. Craftsmanship 4. Conclusion

SAUC’ Interval Super Submarine of Ensieta

Introduction

Introduction

 Team members

– Fabrice LE BARS (PhD Student) – Jan SLIWKA (PhD Student)

– Alexandre KABIL (Undergraduate student)

– Arnaud FERRE (Undergraduate student)

– Luc JAULIN (Professor)

Technical design

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

Technical Design : Electronic Architecture

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

Craftsmanship

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

Conclusion

Conclusion

 SAUC’ISSE is a simple and robust robot

with new and efficient methods