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<!doctype html>
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<h2>Electrical Sub-Division</h2>
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<h3>Introduction</h3>
<p>The electronic system architecture of the vehicle has been designed allowing the software systems to achieve optimal control of the vehicle with ease and robustness. Besides scalability in future, this architecture emphasizes on prominent work division while ensuring efficient power distribution. Majority of the boards are designed and populated in-house to achieve the mentioned objectives. All the microcontrollers on the system have been separated out of the main electronics board using microcontroller caps.</p>
<p>This approach provides the ease of microcontroller replaceability, off-board microcontroller programming and accumulating the same number of components in much less area. The various processing platforms have been chosen according to the basic needs of sensor data acquisition, controls and power management.</p>
<span style="display:block; height:100px;"></span>
<p><a href="pdf/Matsya3.pdf" class="button button-size-large">Find More in the Journal Paper</a></p>
<p> </p>
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<p style="font-size:20px">Power Management on Matsya 3.0</p>
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<h3><br/>Electronics Subsystem </h3>
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Prototyping
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<p>Matsya's electronic system contains all power and serial infrastructure to support the vehicle's sensors, actuators, and computer. All boards in the power, serial, sensor control and actuator control subsystems were designed and populated by team members.</p>
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Power Management System
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<p>The power board performs the following functions </br>
1. Battery Management :</br>
a. Battery protection from overdischarge</br>
b. Measurement of power consumption and report to SBC for characterization purposes</br>
c. Battery state monitoring</br>
2. Voltage regulation and power distribution</br>
a. Temperature control inside the hull by monitoring temperature at different points on the hull and power kill if temperature exceeds a certain threshold</br>
b. Visual and digital detection of faulty power lines and report to SBC on the status of power lines.</br></p>
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Motion Controller Board
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<p>Motion controller system (MCS) performs the operation of dynamic control of the vehicle. As per the setpoints decided by the SBC it executes the closed loop control algorithms providing the desired PWM outputs to the thrusters. It is capable of operating at both 3.3V and 5V logic levels allowing us to switch over from 8 bit Atmel's Atmega 640 microcontroller to 32 bit ARM Cortex M4 (DSP mode) embedded processor as per requirements in future. Pressure sensor calibration and linearization is an extension of MCS's functions.</p>
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Doppler Velocity Log
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<p>As a new addition to the vehicle the DVL offered Matysa to be localized to a better accuracy improving the task completion rates and assisting the Markov Localization algorithm.</p>
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Sensors
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<p>SyRen 10 Regenrative MotorDriver</br>US300 Pressure Sensor</br>Reson TC 4013 Hydrophones</br>Unibrain Firewire-I Camera</p>
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Single Board Computer
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<p>The vehicle uses Axiomtek's SBC86860 Mini ITX motherboard with an Intel Core 2 Duo Processor clocked at 3.0 GHz and 4GB of RAM. A 32 GB flash drive is used for software storage and data logging. With a compact 6.7" x 6.7" size, this SBC was chosen considering its rich I/O functionality, low power consumption and the new level of performance in image processing. It communicates and commands the motion controller, hydrophone and power management systems serially as per the needs of the vehicle in various tasks.</p>
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Pneumatic System
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<p>This system provides the ease of separate maneuverability of the pneumatic actuators as required without affecting the other sub-systems. It facilitates a separate path for the large currents to be drawn from the battery when switching the six pneumatic valves separately. . The major power channels operate at +14.8V, +12V, +5V and +3.3V where the lower voltages are generated with the help of appropriate switching regulators. The entire power system is handled by an Atmel's 8 bit AT90CAN64 microcontroller which keeps track of every channel for characterization of sensors via current measurement, data logging to a micro SD card for time stamping of power consumption, detection of any faulty lines and thereby switching off the corresponding channels if necessary and updating critical parameters to the Single Board Computer for diagnostics. Additional features include RGB leds for battery status, extra power lines for scalability and JTAG interface from debugging perspective.</p>
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<h4>Interested in aiding us build better AUVs ?</h4>
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<p><i class="fa fa-home"></i>AUV-IITB<br/> Dept of Aerospace Engineering<br/>IIT-Bombay<br/>India 400076.</p>
<p><i class="fa fa-phone"></i>+91-9820718028</p>
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