Project Plan

Remotely Operated Underwater Vehicle

Version 1.2
Author: Marcus Homelius
Date: December 17, 2017

ROV

Status
Reviewed Marcus Homelius 2017-09-21
Approved Jonas Linder 2017-09-21

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
Project Identity
Group E-mail: tsrt10rov2017@[Link]
Homepage: [Link]
Orderer: Jonas Linder, Linköping University
Phone: +46 13 28 28 04
E-mail: [Link]@[Link]
Customer: Rikard Hagman, Combine Control Systems AB
Phone: +46 72 964 70 59
E-mail: [Link]@[Link]
Course Responsible: Daniel Axehill, Linköping University
Phone: +46 13 28 40 42
E-mail: daniel@[Link]
Project Manager: Amanda Andersson
Phone: +46 76 843 40 79
E-mail: amaan181@[Link]
Advisors: Kristoffer Bergman, Linköping University
Phone: +46 73 847 31 51
E-mail: [Link]@[Link]

Group Members
Name Responsibility Phone E-mail
(@[Link])
Amanda Andersson Project manager +46 76 843 40 79 amaan181
Marcus Homelius Documentation +46 70 245 90 96 marho949
George Jajji Design +46 70 790 16 17 geoja551
Martin Johannesson Hardware +46 76 949 79 69 marjo790
Mattias Mucherie Information +46 76 238 53 06 matmu715
Fredrik Nilsson Software +46 73 575 49 11 freni169
Anton Nordlöf Modelling & Sim- +46 76 145 04 90 antno848
ulation
Alaa Saeed Tests +46 76 207 57 86 alasa433
Document History
Version Date Changes made Sign Reviewer
0.1 2017-09-14 First draft. All MH
0.2 2017-09-18 First revision. AA, MH AA, MH
0.3 2017-09-21 Second revision. MH, MM MH
1.0 2017-09-21 First version. AA AA
1.1 2017-10-12 Adding activities for the AA FN, AA
Pathfinder, and SF8 and up-
dating the planed time and
dates.
1.2 2017-11-30 Changed date for BP5, delivery, AA AA
test protocol and user manual.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
Contents
1 Customer 2

2 Project Overview 2
2.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.3 Deliverables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.4 Exclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3 Project Phases 3
3.1 Before . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3.2 During . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3.3 After . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

4 Organization Plan 3
4.1 Organization Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
4.2 Conditions for Cooperation in the Project Group . . . . . . . . . . . . . . . . . . . . . . . 3
4.3 Definition of Project Roles and Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . 4

5 Document Plan 5

6 Development Method 7

7 Education Plan 7
7.1 Education of the Project Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.2 Education of the Customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

8 Report Plan 7

9 Meeting Plan 7

10 Resource Plan 8
10.1 Project Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
10.2 Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
10.3 Facilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
10.4 Economy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

11 Milestones and Decision Points 8

11.1 Milestones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
11.2 Decision Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

12 Activities 10
12.1 General Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
12.2 Hardware Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
12.3 Graphical User Interface Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
12.4 Control System Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
12.5 Sensor Fusion Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
12.6 Modelling and Simulation Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
12.7 Administrative Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
 12.8 Pathfinder Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

13 Time Plan 16

14 Change Plan 16

15 Quality Plan 16
15.1 Reviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
15.2 Test Plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

16 Risk Analysis 17
16.1 Indispensable Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
16.2 Hardware Malfunction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
16.3 Illness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
16.4 Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

17 Priorities 18

18 Project Closing 18

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 1

Notations
GUI Graphical User Interface
ROV Remotely Operated Underwater Vehicle

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 2

1 Customer
This project is a collaboration between Linköping University and Combine Control Sys-
tems AB. Combine Control Systems AB provides the group with a BlueROV from Blue
Robotics. The orderer in this project is Jonas Linder from Linköping University, the cus-
tomer is Rikard Hagman from Combine Control Systems AB and the advisor is Kristoffer
Bergman from Linköping University.

2 Project Overview
A MSc project [1] was performed during the spring 2016 where a BlueROV from Blue
Robotics [3] was used. During the autumn of 2016 another project continued on this
work. Some basic modelling and controlling of the ROV has been implemented. By using
a camera and artificial tags, functionality for positioning in a global environment also has
been implemented. This year three ultrasonic senors will be used for positioning instead
of a camera and artificial tags.

2.1 Purpose
The purpose of this project is to develop autonomous behaviors for the ROV, which include
positioning in a known environment and trajectory following. With the new installation
of the sensors, the model of the ROV also needs to be updated accordingly.

2.2 Goal
The goal with the project is to develop an autonomous ROV that can follow a given
trajectory. Another goal is to develop a robust system to control the ROV and create
autonomous behaviors in a pool environment.
The long term goal is to further develop the ROV so it can 3D-map an unknown environ-
ment or search for interesting objects. Therefore it is important that the ROV can easily
be further developed after this project ends.

2.3 Deliverables
In the requirement specification [2], all requirements and documents that shall be com-
pleted and delivered to the customer are listed. Date for the final delivery to the customer
is 2017-12-13. A technical report, poster, website, presentation film and post study will
be delivered by 2017-12-18.

2.4 Exclusions
The system that is currently being used for development is designed to be used in a pool.
The requirements for the ROV in this project is therefore set for use in a pool with calm
and clear water. This means that the ROV is not expected to fulfill these requirements
in water environments that are turbulent or have limited visibility.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 3

3 Project Phases
The project is divided into three phases: before, during and after. This section briefly
describes the structure of the project and the main activities.

3.1 Before
In the before phase, the project structure will be planned. A requirement specification
will be written in collaboration with the orderer. Here, all requirements are stated that
the product shall achieve. A project plan and a time plan will also be created. In the
project plan it is described how the project shall be completed, how the group shall work,
etc. All activities for the project are gathered in the time plan where the time for each
activity and the order of the activities are specified. This phase ends with a decision
point where the orderer decides if the before phase is approved and if the project should
continue.

3.2 During
Next comes the main phase of the project. Here, a detailed design specification will be
created on how the different modules of the product shall be designed. The ROV will then
be developed based on this document. Tests will be performed continuously during this
phase according to the test plan. There will also be a partial delivery of some selected
functionalities. This phase ends with a decision point where the orderer decides if the
project is ready for delivery to the customer.

3.3 After
In the after phase, the project will end by delivering the final product to the customer,
including several documents. The project will be presented to other project groups in a
project conference. The project group shall also write a reflection document.

4 Organization Plan
In this section, the organization structure and the project roles will be presented.

4.1 Organization Structure

In Figure 1, it is shown how the participants in the project is related. The project
group has divided the different responsibilities into components. Each project member is
responsible for one component. During the project, the project members will work with
different components even though they have their assigned responsibility area.

4.2 Conditions for Cooperation in the Project Group

A group contract has been conceived that states how the members of the project group
shall work together.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 4

4.3 Definition of Project Roles and Responsibilities

There are several project roles in the group and their definitions are stated here.

• Project manager: The project manager leads the project. The project manager
is responsible for reaching the goals of the project, planning the project and encour-
aging the rest of the project group to ensure the cooperation works as planned. The
project manager is also responsible for gathering of meetings and where they will be
held. The project manager is the project group’s contact person with the orderer
and customer.
• Documentation manager: The document manager plans the writing of the doc-
uments, including document templates, version management of the documents and
making sure that the document will be completed in time. The document manager
is also responsible for the quality of the documents.
• Design manager: The design manager creates guidelines on the system designs, to
make sure that the assembling of all module goes smoothly. The design manager is
also responsible for synchronizing the communication between different subsystems.
• Test manager: The test manager plans and synchronizes tests. The test managers
responsibilities include the test plan, test protocols and when the tests shall be done.
He is also responsible for booking of the bigger swimming pool in Ljungsbro.
• Hardware manager: The hardware manager leads the work with electronics and
mechanics. He is also responsible for purchases of new hardware.

• Software manager: The software manager makes sure that the software follows
predetermined coding standards, are correctly commented and has a functioning
version control.
• Modelling & simulation manager: The model & simulation manager is re-
sponsible for the development of the simulation environment and for the necessary
models.

Figure 1: An overview of the organizational structure of the project. Red boxes is em-
ployees from Linköping University, blue boxes represents employees from Combine Control
System AB and the yellow ellipsoids are students attending the course.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 5

• Information manager: The information manager is responsible for creating a web

page, a public movie, the project poster and all presentations.

5 Document Plan
The documents that shall be delivered during the project is stated in Table 1. For all
documents, a short description, the target audience, final submission date and whom is
responsible are stated. The documents are shared to all project group members through
ShareLatex and Google Drive. The documents will also be uploaded to GitLab repository.
All documents will be written in formal English. Before the final submission date, the
documents will be iterated with the orderer or the supervisor. This means that a first
draft of all documents will be sent to the orderer or the supervisor in good time before
the final submission date. The group will then receive comments on what needs to be
improved or changed in order for the document to be approved. After these changes have
been made by the group, another version of the document will be sent to the orderer or
the supervisor. These iterations will go on until the document has been approved.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 6

Table 1: List of all documentations that will be carried out during the project.
Document Responsible Description Target Audience Date
Meeting pro- MH Protocols of what has been said Project group and Weekly
tocols at the meetings to ensure every- Orderer
one is up to date with current po-
sition in the project.
Group con- MH The groups rules and expecta- Project group 2017-09-11
tract tions of the project stated as a
ground for solving conflicts.
Requirement MH A list of requirements to achieve Project group, Or- 2017-09-19
specifica- the goal for the project. derer and Customer
tions
Project plan MH A plan of what activities should Project group, Su- 2017-09-19
with time be carried out during the project, pervisor and Or-
plan when and by whom. derer
Design speci- MH A more detailed description of Project group and 2017-10-11
fication the system. Orderer
Test plan AS Describes how and when tests Project group and 2017-10-11
should be carried out to ensure Orderer
accomplishment of the require-
ment specification.
Test protocol AS Protocol showing the results Project group, Su- 2017-12-06
from the tests described in the pervisor and Or-
Test Plan. derer
User manual MH A manual of how to operate the Project group, Su- 2017-12-06
ROV in a secure way. pervisor, Customer
and Orderer
Technical re- MH Description of the ROV system Project group, Or- 2017-12-18
port with technical details. derer, Supervisor
Poster MM Visual presentation of the ROV Customer and gen- 2017-12-18
project that should appeal to the eral audience
audience.
Video pre- MM A video that shows the end Orderer, Customer 2017-12-18
sentation product of the project and the and general audi-
reached goals. ence
Web page MM A web page that presents the Orderer, Customer 2017-12-18
project, the project members and general audi-
and the documentation. ence
Reflections MH Reflection of the entire project Examiner 2017-12-11
work.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 7

6 Development Method
Since the project group consists of eight members, it is important to divide the work
between all members. Many parts of the ROV is split up into different modules that can
be worked on in parallel. It is therefore important to have a functioning communication
in the group and have a clear plan on communication protocols between the different
modules.
The group will use a kind of scrum board in order to keep track on ongoing activities and
have an overview on how they are progressing.

7 Education Plan
All members of the project and the customer will require education during different phases
of the project. The customer will receive education during the end of the project while
the members of the project will require education at the beginning.

7.1 Education of the Project Members

The members of the project will receive a demonstration of the ROV to get acquainted
with the systems and see what has been done to the ROV during previous projects. The
project members should read through the MSc project [1] and the documentation from
last year’s project [4]. The project members should also read the parts that are relevant
for each member of the documentation from earlier years.

7.2 Education of the Customer

At the end of the project the customer will receive a demonstration on what has been
developed and implemented on the ROV. A user manual and documentation of the product
will be delivered as well. The user manual and the documentation should contain all the
details needed to operate the ROV and to use all of it’s functionalities. All written code
should be commented such that the customer easily can understand what each part of the
code does.

8 Report Plan
All group members will report their working time each week and what activity they have
spent that time on. Based on this, the time and project plan will be updated throughout
the project by the project manager. A status report will be sent in each week to the
orderer. That report will summarize the work the week before and also problems that
have been encountered and solved.

9 Meeting Plan
The project group will have meetings every Thursday at 10.15-11.00 if nothing else was
stated at the last meeting. All group members should also be available every Monday at
12.15-13.00 if one more meeting would be necessary. The project manager is responsible to

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 8

summon the meetings. The meetings will start with an update of all areas of responsibility.
Ongoing and near-future activities will also be discussed as a conclusion at all meetings.

10 Resource Plan
This sections states the available resources during the project, such as time, materials,
available facilities and purchases.

10.1 Project Group

The project groups consist of eight students from Linköping University. Everyone should
contribute with 240 h each, that means a total of 1920 h that will be distributed over the
projects total of 16 weeks. The project group has 40 h counselling and revision time with
the supervisor from Linköping University.

10.2 Material
The available material for the project is the ROV from Blue Robotics with provided
hardware and a PC with Linux as the workstation. There is also a car available for
transportation to the swimming pool in Ljungsbro.

10.3 Facilities
At Linköping University a project room and a small pool is available. There is also
possible to reserve a larger swimming pool in Ljungsbro when needed for performing the
tests.

10.4 Economy
All purchases will be discussed with the customer Rikard Hagman at Combine Control
Systems AB, that will cover the purchases.

11 Milestones and Decision Points

This section will mention the different milestones and decision points in the project.

11.1 Milestones
To measure the progress in the project, milestones are used and can be seen in Table 2.

11.2 Decision Points

During this project there are some decision points that have to be fulfilled to proceed with
the project. Table 3 shows all decision points BP (Beslutspunkt in Swedish) that has to
be approved by the orderer to proceed with the project.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 9

Table 2: The milestones in the project.

Nr. Description Date

MI1 The ROV is tested waterproof in the small pool. 2017-10-04
MI2 Sonar sensor able to do measurement under water. 2017-10-11
MI3 First run with the ROV in the larger pool. 2017-10-30
MI4 The sensor fusion module can estimate linear- and angular 2017-10-31
velocities.
MI5 A working simulation environment of the ROV shall exist. 2017-10-31
MI6 The sonar sensors are fully integrated. Mounted and can 2017-10-31
publish measurements to ROS topics.
MI7 The ROV can receive a path plan from the GUI. 2017-10-31
MI8 The ROV can position itself in a known environment. 2017-10-31
MI9 The ROV can follow a reference trajectory. 2017-11-17
MI10 The project is ready for delivery. 2017-12-06

Table 3: All decision points for the project.

Decision Description Date

BP2 Requirement specification and project plan with time plan 2017-09-19
shall be approved by the orderer. A first draft of design
specification shall also be presented.
BP3 Design specification and test plan shall be approved by the 2017-10-11
orderer.
BP4 The simulation environment shall be finished, the sonars 2017-11-10
shall be integrated, the requirements for estimation of linear
and angular velocities shall be fulfilled and the requirements
for route planning in known environment shall be fulfilled.
BP5 All requirements with priority 1 shall be fulfilled. Test pro- 2017-12-06
tocol, user manual and a presentation that shows that all
requirements are fulfilled shall be approved by the orderer.
Final A presentation shall be held for the customer to demon- 2017-12-13
delivery strate that all requirements are fulfilled.
BP6 A technical report, poster, website, presentation film and 2017-12-18
a post study that reflects the result and used time shall be
approved by the orderer.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 10

12 Activities
This section will mention all activities for the project. The activities are divided into
different subsections depending on what they are about.

12.1 General Activities

Table 4 shows the general activities that will be performed by the project group during
the project. GE stands for General.

Table 4: The general activities.

Act. nr. Activity Description Time (h)

GE1 Group meetings. Weekly meetings with updates on the progress. 145
GE2 Create Poster. Creating a presentation poster. 10
GE3 Reflection docu- Writing a reflection document. 8
ment.
GE4 Movie. Making a presentation movie about the ROV. 10
GE5 Requirement speci- Writing the requirement specification. 108
fication.
GE6 Delivery presenta- Creating the delivery presentation 25
tion.
GE7 User Manual. Writing the user manual. 30
GE8 Technical docu- Writing the technical documentation. 90
mentation.
GE9 Test protocol. Writing a test protocol. 15
GE10 Test plan. Creating a test plan. 37
GE11 Design specifica- Writing the design specification. 173.2
tion.
GE12 Project plan with Writing a project plan with a time plan. 70
time plan.
GE13 Create Web page. Creating a web page about the ROV. 10
GE14 Reserve time. A pot of time that will be distributed when 125.6
needed if non predictable trouble occurs.
GE15 Inspection of new Inspection of new code to ensure that it follows 10
code. the coding standards.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 11

12.2 Hardware Activities

Table 5 shows all hardware activities throughout the project. HW stands for Hardware.

12.3 Graphical User Interface Activities

In Table 6, the different GUI activities are shown. GUI stands for Graphical User Interface.

Table 5: Hardware activities.

Act. nr. Activity Description Time (h)

HW1 Sonar position. Evaluating the sonar positions and orientation on 2.2
the ROV.
HW2 Calibration of the Finding a method to calibrate the sonars. 6
sonar sensors.
HW3 Final testing of Making tests of the sonars in air and water. 10
sonars.
HW4 Waterproofing of Making the sonars and the wiring water resistance 16
the sonar sensors
and cables.
HW5 Mounting of the Making fixtures for the sonars and mounting the 22
sonar sensor. sonars on the ROV.

Table 6: The GUI activities.

Act. nr. Activity Description Time (h)

GUI1 Ability to set a ref- Implementing functionality to send a reference 15
erence trajectory. trajectory to the ROV from the GUI.
GUI2 Graphical view of Implementing functionality to show the ROV’s 30
the ROV on a map. position on the map.
GUI3 Add the map to Creating functionality to show the map of the 20
GUI. ROV’s environment.
GUI4 Get familiar with Inspecting the GUI code and get familiar with the 20
the existing GUI. user interface on the workstation.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 12

12.4 Control System Activities

The different control system activities are shown in Table 7. CO stands for control system.

Table 7: The control system activities.

Act. nr. Activity Description Time (h)

CO1 Research control Research of control methods and principles used 35
methods and earlier in the MSc project [1], last year’s project [4] and
principles. previous years.
CO2 Propose possible Proposing a control strategy which allows for con- 31
strategies. trol of the ROV in accordance with the function-
ality requirements specified in the requirements
specification document.
CO3 Evaluate existing Simulation and real world tests to compare 5
controllers. position-, angle-, angular velocities- and linear ve-
locities control performance to the demands men-
tioned in requirements specification document.
CO4 Implement the tra- Implementing a trajectory controller based on 10
jectory controller. control strategy proposition.
CO5 Evaluate and im- Simulation and real world tests to compare tra- 10
prove the trajec- jectory control performance to the demands spec-
tory controller. ified in the requirements specification document.
CO6 Integrate control Integration of the controllers in an overall struc- 20
methods. ture to enable control of multiple states at the
same time. Build and implement control modes
including the reference signals combinations for
each control mode.
CO7 Evaluation of inte- Performing tests to determine if the implemented 10
grated control. control modes are suitable for an operator.
CO8 Verify that the Verifying that the control module requirements 5
control module specified in the requirement specification are ful-
requirements are filled.
fulfilled.
CO9 Integrate with Implementing the controllers (created in 10
ROV. Simulink) in ROV.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
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Remotely Operated Underwater Vehicle 13

12.5 Sensor Fusion Activities

The different sensor fusion activities in the project are shown in Table 8. SF stands for
sensor fusion.

12.6 Modelling and Simulation Activities

All modelling and simulation activities are seen in Table 9. MS stands for modelling and
simulation.

12.7 Administrative Activities

Table 10 shows the activities associated with administration. AM stands for administra-
tion.

12.8 Pathfinder Activities

Table 11 shows all activities associated with the pathfinder. PF stands for pathfinder.

Table 8: The sensor fusion activities.

Act. nr. Activity Description Time (h)

SF1 Change motion Instead of a constant velocity model the per- 20
model. formance could be improved if a more complex
model would be used.
SF2 Implement the Designing a suitable position estimation model 40
positioning estima- and implement it in the code.
tion.
SF3 Test the moved sen- Running tests to make sure that the sensor fu- 4
sor fusion module. sion module works as planed when running on
the Raspberry Pi.
SF4 Move sensor fusion Investigating if it is possible to, and then move 10
module onto the the sensor fusion module onto the Raspberry Pi
Raspberry Pi. as a step to reach the long term goal of a fully
autonomous ROV.
SF5 Understand current Getting a good knowledge about how the current 16
sensor fusion mod- sensor fusion is done and how it is implemented.
ule code.
SF6 Research about A new filter could be used to get a better position 10
filter implementa- estimation. Research how different kinds of filters
tions in ROS. could be implemented with ROS.
SF7 Adopt sensor fusion Extend the current sensor fusion functionality to 40
to the new sonar use sonar measurements.
measurements.
SF8 Update angle repre- Update the angle representation from quaternions 15
sentation. to Euler angles in the current sensor fusion mod-
ule.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 14

Table 9: The modelling and simulation activities.

Act. nr. Activity Description Time (h)

MS1 Get familiar with The modelling will be based on the work of the 30
existing models and TSRT10 2016 project and therefore an under-
simulation environ- standing of the system is required to further im-
ment. prove it.
MS2 Evaluate and im- The existing Simulink model needs to be up- 35
prove Simulink graded with a working GUI and ROS communi-
model. cation.
MS3 Estimation of pa- Estimate the paramters in the ROV’s dynamic 80
rameters. model.
MS4 Validation of previ- Validating the tests done in the previous project 15
ous tests. so that the model is correct.
MS5 Data collection and Running simulations and logging data for further 25
logging. evaluation of the model.
MS6 Implement the sim- To simplify the process of creating regulators the 35
ulation with ROS. Simulink simulator will be able to get data direct
from the ROV via ROS.
MS7 Telegraph signal Investigating which control signals that are suit- 40
generation. able during parameter estimation.
MS8 Improvement of pa- Further testing and improvement of the ROV 80
rameters. model.
MS9 Software in the Making hardware test with the Simulink-model 40
loop. implemented to validate and improve the model
of the system
MS10 Validation of the Performing tests to evaluate how the model differs 40
model. from the ROV in reality.
MS11 Implement new Implement the ROV’s sensors and known envi- 40
simulation compo- ronment into the simulator.
nents.

Table 10: The administration activities.

Act. nr. Activity Description Time (h)

AM1 Preparation of Preparation for the meetings, create agenda etc. 16
meetings.
AM2 Compile status re- Summarize the work that have been made and 10
port. update the time plan.
AM3 Other meetings. Meetings with for example the customer and or- 50.5
derer.
AM4 Preparing for pre- Preparation for the different presentation during 20
sentation. the project.
AM5 Group contract. Write a group contract. 4.5

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 15

Table 11: The pathfinder activities.

Act. nr. Activity Description Time (h)

PF1 Build map to im- Creating a map of the known environment of the 20
plement in the pool.
pathfinder.
PF2 Develop the Create a new node for the pathfinder that can 30
pathfinder node. calculate a path between given points.
PF3 Implement the A* Implementing an A* algorithm for calculating the 10
algorithm. possible path between point A an B.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 16

13 Time Plan
There is a separate document named Time Plan that specifies what activity each group
member should work with, when to work with it and for how long. Based on the progress,
the time plan will be updated throughout the project by the project manager. The dif-
ferent activities in Section 12 can be divided into the following categories:

General Activities that are more general for the project, such as meetings and different
documents.
Hardware Activities that are related to the hardware. Three sonar sensors will be added
to the ROV.
GUI Activities that are related to the development of the GUI. The GUI should be able
to present a graphical view of the map and the ROV’s estimated position.
Control system Activities related to the implementation and development of the control
system.
Sensor fusion Activities related to the sensor fusion. The sensor fusion module will be
moved to the on board computer and a new positioning filter will be implemented.
Modelling and simulation Activities related to modelling and simulation of the ROV.
Administrative Activities related to administrative work around the project, such as
planning for meetings and compiling status reports.
Pathfinder Activities that are related to the pathfinder. The pathfinder should be able
to plan a possible path for the ROV between a point A and B in a known environment.

14 Change Plan
During the project the requirement of the ROV might need to be changed. If a change is
required, it has to be motivated to the orderer and the customer for approval. After the
approval the requirement specification, timeplan and project plan can be updated.

15 Quality Plan
This section contains information about how the group will work to make sure the quality
of the product will be as good as possible.

15.1 Reviews
All documents that are written throughout the project will be reviewed by at least one
person before delivery. This will hopefully decrease the amount of errors.

15.2 Test Plan

A separate document named Test Plan will be written to make sure that each test is
designed in such a way that it will be easy to see if a certain requirement has been
satisfied after the test. The test plan will contain information about when and how all
tests will be performed.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 17

16 Risk Analysis
Different events that might affect the progress of the project have been identified and
summarized below.

16.1 Indispensable Activities

The ongoing plan is to use the ultrasonic sensors to estimate the position and the velocity
of the ROV. The project in its current form is enormously dependent on this goal. It will
be difficult to measure the position and the velocities of the ROV if this idea proves to
be difficult to implement. Simply, it will be hard to realize other activities without good
estimations of positions, linear and angular velocities of the ROV. To make it possible to
work without a good estimation, especially in the beginning of the project, it is important
to create a simulation environment. Estimation of the linear and angular velocities can
be simulated from there to develop the control system for the ROV.

16.2 Hardware Malfunction

It is possible that hardware malfunctions. In this case it would be good if there is a stock
so the damaged parts can be replaced. If there is no stock for a damaged part the waiting
time for a new part might delay the progress of the project.

16.3 Illness
It is always a risk that people could get ill. A meeting for renegotiation of the project
requirements will be held if the illness remains for a big part of the project. Most of
the activities are executed by at least two students to minimize the risk of a minor cold
delaying the progress of the project. This also means that there always will be a deputy
who can take over for the person that is responsible for an activity in case of absence.

16.4 Dependencies
Some parts of the ROV are independent while some are dependent on other parts or
modules to be able to operate correctly. This applies to both hardware and software. The
development can be affected if some activities are delayed or cancelled.
If the waterproofing of the sonar sensors fail or take longer than planned, it will affect the
whole project since new decisions have to be made.
Some of the modelling activities are dependent on the sonar sensors while most of the
sensor fusion activities are dependent on the sonar sensors to be installed. Some sensor
fusion activities are also dependent of the GUI module.
Some of the control activities are dependent on the model activities and GUI activities
since they require input from those modules.
To make sure that all activities works well together, a good communication will be estab-
lished.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 18

17 Priorities
The project will try to priorities all functionality that includes the ability for the ROV to
follow a reference trajectory since this is one of the new main goals of this year’s project.
Another priority is to write a clear and precise user manual to facilitate further use and
continued improvements of the ROV.

18 Project Closing
When the orderer and the client have received and approved all deliveries the project
can end. Before the project ends the ROV and the PC borrowed from Combine Control
Systems AB have to be returned. All documentations and the movie will be available at
the web page.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]
ROV
Remotely Operated Underwater Vehicle 19

References
[1] Adam Aili and Erik Ekelund. Model-Based Design, Development and Control of an
Underwater Vehicle. MSc Thesis - LiTH-ISY-EX–16/4979–SE, Sweden: Linköping
University, 2016.
[2] Marcus Homelius. Requirement Specification, Remotely Operated Underwater Vehicle.
2017.
[3] Blue Robotics. BlueROV. [Link]
Accessed: 2017-09-20.
[4] Niklas Sundholm. Technical Documentation, Remotely Operated Underwater Vehicle.
2016.

Course name: Automatic Control Project Course E-mail: tsrt10rov2017@[Link]

Project group: ROV2017 Document responsible: Marcus Homelius
Course code: TSRT10 Author’s E-mail: marho949@[Link]
Project: Remotely Operated Underwater Vehicle Document name: [Link]