QUAFFLE - Jaffe Laboratory for Underwater Imaging
QUAFFLE: Quad-Rotor Underwater Autonomous
Fish Following Low-Disturbance Explorer
Jaffe Laboratory for
Underwater Imaging
Samuel Bartell • Janelle Dueñas • Steve Guerin • Matthew Pearson
Sponsored By: Dr. Jules Jaffe
Control System Modes
Scope
Yaw Control System
Object Tracking
To develop a small, open-source, autonomous underwater vehicle with the ability to record and track
marine life while minimizing disturbance to its environment and organisms under observation.
While recording video, the tracking
algorithm pulls a frame from the
camera at 5 Hz for image processing.
: Yaw
Jaffebaldi.mp4
Pitch Control System
Water Level
Image is passed through a
color filter
: Pitch
Depth Control System
The largest blob of white
pixels is found
Set Depth
The position and size of the
blob is sent to the
controller
Buoyancy and Balance
X_Location
Y_Location
Size
Ocean Field Testing
Margin Ballast
Adjustable Mounts to
achieve balance
The QUAFFLE looking down
on a Garibaldi
Salt Water Ballast
Electronics
Raspberry Pi 3
- 1.2GHz clock speed
- Built in Wifi chip
PWM Board
PWM- controller
- 16 channel pwm control
- I2C bus controller
IMU Sensor
- UART communication
- Gyroscope
- Accelerometer
- Magnetometer
Raspberry Pi Camera
- Seamless integration with
microcontroller
IMU
Voltage
Regulator
Motor Drivers
View from behind the
QUAFFLE during ocean test
Raspberry
Pi 3
Batteries
Camera
Microcontroller
Switch
The QUAFFLE looking at a
Garibaldi as it goes about its
business
Compact Electronics Unit
Self-contained electrical system
Minimal disassembly to re-charge
battery
ESC Power
Line
Charging Port
Over-Current protected sensors and
microcontroller
Custom Propellers
-
Designed with OpenProp
software
-
Compact 3.75 cm profile
-
Rear-facing to reduce vehicle drag
and flow separation
-
5 blades to reduce noise
production
-
$2.00 unit cost
-
Can be 3D Printed using FDM or
SLA
Accomplishments
- Top Speed: 0.75 m/s
- Battery Life: 20 minutes
to 1 hr
- Prototype Cost: $ 1000
- 720/1080p 30 FPS
Recording
- Ocean Tested
- Wireless Programming
- Minimal
Manufacturing
- Object Tracking
- Trajectory
Following
- Small Size
- “Turns on a Dime”
- Open Source
Devin and Paul, two Garibaldi
that the QUAFFLE met during
its journey in the ocean
QUAFFLE’s view of
Underwater wildlife in detail
Next Steps
-
Swarm Development
Optical Communication
USB-Microscope
Location updates through
GPS
- An “Education Edition” to
promote interest in
Oceanography
School Of Fish Above Reef, Underwater View
photograph by Darryl Leniuk
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