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The given Drifter should be extended with a diving device, which is able to pull down the whole Drifter with its sensors to a minimum depths of two meters. Fully emerged, the drifter has an upwards bouyant force of 50N. Of course, the drifter should still be able to float, after applying the extension.
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The diving procedures are determined by the drifters logic and the divers logic needs to process the given instructions to control the diving process. A diving Diving procedure has contains a length of 1 Minute and is given to the divers logic, prior to the diving start signal. For the one minute time period, the diving procedure contains set of three different water depths values which should be reached by the diving device within a time frame of 2 minutes. Each target depths should be hold for 10 seconds with an accuracy of +/-0.1m. The Procedure only contains vertical information, and the diver should keep its horizontal position at the moment of the start diving signal. ???? Due to currents in the water, the divers downwards path might be disturbed in horizontal directions. The diver should provide a matter to counteract these disturbances to follow the vertical path with an horizontal error of 0.2m for a vertical movement of 1m.
Implementation
For the implementation of the diving robot, Matlab Simulink should be used. The Test-Environment for the Diver will be provided by the institute of mechatronics in mechanics, so the simulation should only contain the system simulation of the diver. Every part that is used in the construction should also be included in the Simulink implementation, only the microcontroller can be represented with a simplification like Matlab Stateflow.