Autonomous Underwater Vehicle Sensor Processing

To improve the analog/digital data processing system aboard the Automated Underwater Vehicles being developed by the Center for Intelligent System Research (CISR).

Problem Definition
The current analog/digital data processing system is too large and has too much noise. It also is unable to off-load the data without opening up the AUVs. Our main goals are to reduce the size of the system, reduce the noise and add wireless capabilities.

Background
Why Have Sensors on the AUVs The sensors on the AUV allows for extensive data collection that can be used to navigate, identify ships, and detect anomalies in the water. This task is critical as an extension for naval weapons systems.

Specifications
 Ability to record 6 differential channels at 16 kHz   Meet Navy's storage specifications  Wireless offload of information

Deliverables
 Reduce the size of the processor   Reduce noise from the sensor   Add wireless capabilities 

Design
Design includes the testing and selection of the amplification system, wireless system, data storage, and the ADC processor block. The first component to be designed was the amplification system.

Testing
Amplification Extensive testing of the amplification system has been conducted to ensure maximum noise reduction as told in the deliverables. This included comparing three different amplifiers, the carderock (ONR), instrumentation amplifier (INA), and the dexter amplifier. To test them a spectrum analyzer was used to compare frequency responses and a Matlab code was then implemented to compare the noises. Here are the results of the comparisons:

Project Learning
 Characterized current sensors amplifiers noise  tested multiple amplifiers for comparison</li>

Document Archive
Meeting minutes and agendas: [[Media:2105 AUV meetingminutes.PNG]]