Cornell University
Autonomous Underwater Vehicle
Cornell University Autonomous
Underwater Vehicle Team
Winner of the 2009 and 2010
AUVSI/ONR AUV competitions
Cornell University
Autonomous Underwater Vehicle
Mission
Design and build a robotic
submarine for competition and
research
Cornell University
Autonomous Underwater Vehicle
Activities and Goals
Engineering experience
Networking
Competition
Outreach
Have fun!
Cornell University
Autonomous Underwater Vehicle
CUAUV History
• Founded in 1999
• BRAIN: Big Red
Autonomous Intelligent
Navigator
• 9 Vehicles, #10 in progress
• 12 Competitions
• 3 Competition Wins: 2003,
2009, and 2010
• 9 Static Design Wins
Cornell University
Autonomous Underwater Vehicle
Team Composition
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~40 Students
3 colleges
14 different majors
10 engineering
majors
Cornell University
Autonomous Underwater Vehicle
Advisors
• Mechanical: Prof. Alan Zehnder
• Electrical: Prof. Bruce Land
• CS: Prof. Graeme Bailey
Cornell University
Autonomous Underwater Vehicle
Team Culture
• Tradition of excellence
• Long-term experience
• Multi-disciplinary
teamwork
• Project ownership
• Full training, freshman
design work
Cornell University
Autonomous Underwater Vehicle
Applications for AUVs
•Places humans can’t reach
•Oceanographic Research
•Military
•Offshore Industry
Cornell University
Autonomous Underwater Vehicle
Tachyon: 2009-2010 vehicle
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1 yr design cycle
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Depth rating: 100 ft
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Run time: 1-3 hrs
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5 degrees of freedom
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2.53GHz, quad-core
processor
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100 lb
Cornell University
Autonomous Underwater Vehicle
2010-2011 Vehicle
Codename: ZEPHYR
• Lighter, faster,
smaller
• More powerful
thrusters
• Active cameras
enclosures
Cornell University
Autonomous Underwater Vehicle
AUVSI/ONR AUV competition
Cornell University
Autonomous Underwater Vehicle
Visual Mission Elements
Cornell University
Autonomous Underwater Vehicle
Competition Course
Cornell University
Autonomous Underwater Vehicle
Pool Tests
• Sundays 5:00pm
• Software testing
• Mechanical/electrical
stress testing
• Missions
• Open pool test:
Nov. 21, 5:30pm
Cornell University
Autonomous Underwater Vehicle
Research in Cayuga Lake
Cornell University
Autonomous Underwater Vehicle
Lake testing
Cornell University
Autonomous Underwater Vehicle
Subteams
• Four main discipline groups
– Mechanical
– Electrical
– Software
– Business/PR
Cornell University
Autonomous Underwater Vehicle
Business/PR - Business
• Contact companies
• Alumni relations
• Secure product &
monetary donations
• Budget management
Cornell University
Autonomous Underwater Vehicle
Business/PR - Public Relations
• Community &
Campus events
• Posters
• Web site
management
• Quarterly Newsletter
• Recruiting
• Outreach
Cornell University
Autonomous Underwater Vehicle
Mechanical
• Conceptual and
detailed design of
mechanical systems
• CAD modeling
• Machining
• Pool tests
Cornell University
Autonomous Underwater Vehicle
Electrical
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Circuit design
Board layout
Board population
Testing
Cornell University
Autonomous Underwater Vehicle
Software
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Missions
Control
Vision
Logging
Simulator
User Interface
Cornell University
Autonomous Underwater Vehicle
Questions?
Open pool test: Nov. 21, 5:30pm
www.cuauv.org