2013 Team members
The Hydro-Camel team is comprised of a group of 20 students from the Department of Mechanical Engineering, Electrical and Computer Engineering and the Department of Software Engineering at the Ben-Gurion University of The Negev.
Our team is the very first from Israel to participate in the AUVSI/ONR Underwater Vehicle Competition' and we are honored to be taking part in such a prestigious and well-respected event.
The goal of the team is to build an autonomous submarine that will meet the future needs of research and other varied forms of underwater exploration and scientific activity.
Our team is the very first from Israel to participate in the AUVSI/ONR Underwater Vehicle Competition' and we are honored to be taking part in such a prestigious and well-respected event.
The goal of the team is to build an autonomous submarine that will meet the future needs of research and other varied forms of underwater exploration and scientific activity.
Administration / management
Guy Kagan is a fourth year student for mechanical engineering. Boris Braginsky is a PhD student in electrical engineering.
Together with a group of 16 fourth-year engineering students from Ben Gurion University initiated and established a team which will participate in an international robotics competition from the AUVSI. We both had a vision that even in the heart of the desert a dedicated team will lunch a submarine. In less than a year we've established we have established a team and built the first Israeli robotic submarine. Even in our best dream we never thought that this project we become as successful as it is today. |
team's mentors
Research Interests: Biotechnology, Biomedicine, Computers,Fuzzy Logic, Neural Networks, Robotics, Signal & Video Processing, Speach and Speaker Processing
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Research interests: locomotion of multi-limbed mechanisms in unstructured complex environments, motion planning algorithms for multi-limbed robots, robot grasping-design, control, and stability analysis,
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actuators & torpedo team
Our main Responsibilities is designing a modular underwater robotic arm to Enable the sub to grab objects, torpedo launcher mechanism and releasing markers system that Combined with Image Processing can shoot plastic arrows Toward targets in front of the sub & releasing markers above
targets in the bottom. |
control team
Our team is the team responsible for the control of robot motion in the water, that is, to know to direct the robot in the water to a desired point or collection of points defined by the mission control team while tracking the current position and velocity obtained by the Navigation team. The actual movement is performed by six thrusters that are installed in different locations on the robot when they are distributed to different positions.Ra The main goal that we want to achieve in the project is a movement as accurate as possible as well as keeping the robot position (position and angle) as necessary, with as few unwanted movements.
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Frame teamOur team is responsible for designing the internal and external structure of the submarine as well as the internal cells, assembling electronics, wiring and mechanical integration of all systems in the submarine.
We built the submarine frame and the inner cells while thinking about her reliability and durability. all along we emphasis the need for the chassis to be with high level for ergonomics |
Integration team
My Primary goal was to enable the sub to analyze the environment by array of different systems that developed sidelong analogies and digital indications integrated parallel, such as power management system, operating system, shutdown system, routine testing system and a system that provides mission control alerts about the power management and prognosis for prevention future failures.
In order to execute the described design, I planned a suppliers card that according to the receiving feedback and the conclusions that I will infer , I will be able to communicate with the other teams and to transfer information and energy supply as needed according to the mission control array. |
Mission Control team
The project goal is to develop an Autonomous decision making & path planning module for the robotic sub (aka. HydroCamel). The module would work co-operatively with the other sub modules by receiving input regarding the surrounding environment; use it to monitor the state of the robot and deduce the optimal course of action; and output the desired actions to the other modules. This project presents a challenge in artificial intelligence, asynchronous data handling and, real-time monitoring.
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Navigation team
We design and implement real time navigation system for the AUV. The navigation system relies on inputs from the following sensors: IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log), depth sensor and 3D magnetometer. The system uses these inputs to estimate the sub's orientation, position and velocity. The sensors readings are measured in the "body" coordinate system. Extended Kalman Filters are used to dramatically reduce the error drift.
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Vision analysis Team
As the vision team we developed algorithms tring to detect the objects for each mission. we try to make our algorithms robust and easy to configure as poosible. we also develiped an Test application allow us to check and configure our algorithms. our vision system allow us to run the algorithms multithreading so the detections will get rapidly as can to the mission control.
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