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<!doctype html>
<!--[if lt IE 7]> <html class="no-js lt-ie9 lt-ie8 lt-ie7" lang="en"> <![endif]-->
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<title>Matsya 1.0</title>
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<li class='has-sub'><a href='#'><span>Matsya 1.0</span></a>
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<li><a href='./matsya1_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya1_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya1_soft.html'><span>Software</span></a></li>
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<li><a href='./matsya2_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya2_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya2_soft.html'><span>Software</span></a></li>
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<li class='has-sub'><a href='#'><span>Matsya 3.0</span></a>
<ul>
<li><a href='./matsya3_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya3_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya3_soft.html'><span>Software</span></a></li>
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<div id="about" class="panel">
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<h2>Electrical Sub-Division</h2>
<!-- <h4>8 Departments | 4 Sub-Divisons | 1 Team | AUV-IITB</h4> -->
</header><!-- end heading -->
<div class="cols cols-third-twothirds">
<div class="col col-a">
<div class="col-inner">
<!-- <h5>A </h5> -->
<h3>Introduction</h3>
<p>The electronic systems in the vehicle act as
platform for software systems to be executed. The
processing platforms are chosen based on the basic
needs of vision processing, controls and power
management. The hardware architecture is
designed with emphasis on modularity and scalability
in the future. Majority of the boards are designed and
populated in-house</p>
<span style="display:block; height:100px;"></span>
<p><a href="pdf/Matsya1.pdf" class="button button-size-large">Find More in the Journal Paper</a></p>
<p> </p>
</div>
</div><!-- end col -->
<div class="vehicle-pic">
<img src="./images/matsya1/elec1.jpg" height="400px" width="540px" alt="" />
</div>
<div class="col col-b">
<div class="col-inner">
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<div id="elec" class="panel">
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<div class="cols cols-twothirds-third">
<div class="col col-a">
<div class="col-inner">
<p><img id='m1-elec' src="./images/matsya1/elec2.jpg" alt="" style="text-align:center;" />
<img id='m1-elec' src="./images/matsya1/imu.png" alt="" style="text-align:left;" />
</p>
<img id='m1-elec' src="./images/matsya1/battery.jpg" alt="" style="text-align:center;" />
<span style="display:inline-block; width:100px;"></span>
<img id='m1-elec' src="./images/matsya1/current_sensor.png" alt="" style="text-align:center;" />
</div>
</div><!-- end col -->
<div class="col col-b">
<div class="col-inner">
<h3><br/>Electronics Subsystem </h3>
<br/>
<div class="accordion">
<div class="toggle">
<h3 class="toggle-heading">
Power Management System
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>The power board performs the following functions </br>
1. Battery Management :</br>
a. Battery protection from overdischarge</br>
b. Measurement of power consumption and report to SBC for characterization purposes</br>
c. Battery state monitoring</br>
2. Voltage regulation and power distribution</br>
a. Temperature control inside the hull by monitoring temperature at different points on the hull and power kill if temperature exceeds a certain threshold</br>
b. Visual and digital detection of faulty power lines and report to SBC on the status of power lines.</br></p>
</div>
</div><!-- end toggle -->
<div class="toggle">
<h3 class="toggle-heading">
Motion Controller Board
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>The motion controller board receives desired values of control variables from the SBC and controls the thrusters based on data from feedback elements. Following are the features </br>
1. Feedback taken from IMU(orientation), pressure sensor(depth) </br>
2. Non linear controller using the basic system dynamic equations</br>
3. Real time controller with provision of decoupling pitch and yaw</br></p>
</div>
</div><!-- end toggle -->
<div class="toggle">
<h3 class="toggle-heading">
Single Board Computer
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>The PandaBoard is a low-power, low-cost single board computer development platform based on the Texas Instruments OMAP4430 system on a chip (SoC). The PandaBoard ES is a newer version with the CPU and GPU running at higher clock rates. The PandaBoard ES uses a newer SoC, with a dual-core 1.2 GHz CPU and 384 MHz GPU. Image processing and mission planner are implemented on Embedded Linux.</p>
</div>
</div><!-- end toggle -->
<div class="toggle ">
<h3 class="toggle-heading">
Current Sensor
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>Hall Effect Current Sensors are used by the power board for measuring power consumption.</p>
</div>
</div><!-- end toggle -->
<div class="toggle ">
<h3 class="toggle-heading">
Inertial Measuring Unit
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>The VectorNav IMU is primarily used to get a feedback on the orientation of the vehicle. It is interfaced to the motion controller board.</p>
</div>
</div>
<div class="toggle ">
<h3 class="toggle-heading">
Batteries
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>The power supply required to have maximum power/weight ratio. Considering the design requirements, lithium polymer batteries best suited out requirements. Appropiate lithium polymer batteries are chosen to let the vehicle run comfortably for half an hour.</p>
</div>
</div>
</div><!-- end accordion -->
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<h2>Contact</h2>
<h4>Interested in aiding us build better AUVs ?</h4>
</header>
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<div class="col col-a">
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<p><i class="fa fa-home"></i>AUV-IITB<br/> Dept of Aerospace Engineering<br/>IIT-Bombay<br/>India 400076.</p>
<p><i class="fa fa-phone"></i>+91-9820718028</p>
<p><i class="fa fa-envelope"></i><a href="mailto:[email protected]">[email protected]</a></p>
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