Kai: /* Autonomous Behaviors */

2016-11-10T19:34:44Z

Autonomous Behaviors

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=== Introduction ===
RF1 is an autonomous underwater robot and the major goal of this project.
 
 

=== Sealing ===
==== Propeller Shaft ====
The propeller shaft can be made (sufficiently) watertight with a [https://en.wikipedia.org/wiki/Stuffing_box stuffing box] construction. Leakage of a couple drops per minute is to be expected, however. The leaking water will drop into a collector and the water level in the collector needs to be monitored (e.g., through optical detectors).
 
 
=== Software ===
The software that controls the [[RF1]] is split into two modules. The more complex module runs on the Raspberry Pi and performs image processing, trajectory planning, operational decision-making, and high-level hardware control tasks.
 
 
==== Autonomous Behaviors ====
* Surfacing when the battery charge level drops under a threshold.
* Surfacing when water leakage is detected.
 

=== Roadmap ===
* Structural design
* Electrical design
* Manufacturing
* Basic functional software
* Testing and debugging

RF1 - Revision history

Kai: /* Autonomous Behaviors */