MSU Robotics
Everything that you dreamed of can be brought to life exactly at the moment when you decide to win.
Maritime State Universitv named after admiral G.I. Nevelskoy

AUV MSU team participated in Robosub many times (2015, 2016, 2017, 2018)

MSUAUV team has developed a new platform "Ivan!" Which consists of two modules: a basic one, which includes an electronics unit, propulsion systems, a navigation system, and a removable payload module, which can be quickly replaced to perform certain tasks. Sophisticated design solutions have provided great flexibility in using the AUV in various conditions, as well as ease of transportation.
Platform Ivan is equipped with better electronics and software than our previous platform that we used from 2015 till 2018. This platform has expanded functionality due to the presence of optimized program control and implemented design solutions.

Our skills video
In it we presented Hull Design, Sensor Optimization themes and showed our acting)

Meet Our Team
Oleg Kozhevnikov
Art Director
Sergey Plotnikov
Electronics engineer
Sergey Sidelnikov
Design Director
Denis Korovetsky
Special 3d printing
Evgeny Shkurin
Neural network programmer
Oleg Shevchenko
Customer Support
Igor Pushkarev
Microcontroller programmer
Dmitry Proschenko
Marketing Director
Ilya Bukin
Water tester
Vyacheslav Viktorov
Software programmer
G.I. Nevelskoy
Russian admiral, explorer of the Far East

Competition Strategy 2021
The vehicle does not sink! it measures depth!
Modular design
The design of the AUV must be modular. This will make it possible to relatively easily and quickly adapt the apparatus to new operating conditions.

Weight reduction
The AUV should be as light and easy to transport to the place of use as is possible. The maximum weight of the AUV is less than 25 kg.

Navigation sensors
The device must have a speed sensor, and we will make it ourselves.

When developing the supporting frame, special attention was paid to its mass and dimensional characteristics, ease of maintenance and ease of construction. A polypropylene plate 8 mm thick was chosen as the main material for the AUV body. Considering the payload that is attached to the hull and the specific missions of these competitions, this material is lightweight and has sufficient strength.
Initially, there were concerns that an 8 mm plate would bend too much under the weight of the equipment, since before that we used sheets from 10 to 12 mm,

this year we decided to make the apparatus as lightweight as possible and started by reducing the thickness of the frame walls.
It was a successful experience and we managed to significantly reduce the weight of the apparatus without sacrificing strength.
The size of the carrier is 476 x 215 mm.
The size payload module is from 400 x 135 mm to 440 x 150 mm

To determine the position of the vehicle in the water, we use a path counting system. One of the most important elements of the path counting system is the velocity meter. In underwater robotics, Doppler logs are usually used. But for our team, this is too expensive equipment that we can't afford. So we decided to use an old, but effective way to measure speed - a rotary log.
We developed our own rotary log for our AUV. By measuring the rotational speed of the rotor wheel with a Hall sensor we calculate the speed of the AUV.
The negative of this device is that it measures relative velocity, and the water flow will have a major effect on the accuracy of the measurement. But fortunately for us competitions are held in pools where there are no currents.

All AUV software can be classified into high-level and low-level software. The low-level software runs on the STM32F407-based onboard controller board, under the FreeRTOS real-time operating system. Here low-load computational tasks that require real time are implemented Each element in the AUV system is a node which publishes data to its corresponding topic. For video stream a node has been added for preprocessing, image quality improvement, balance adjustment and video stream scaling. this node publishes data to two topics with different frequency black and white images with a camera frequency (60 Hz), and color images with a frequency of 10 Hz. The black and white images are used to find reference points in the "env object detection" node. These data as reference points are used by the "slam" node in place with the data from the "imu_data" and "speed" to navigate, then this data is published in the "position" node and used by the "mission executor" node. In place with data from the "mission_obj" to plot the path, this data is published in the "path" node and used by the "actuators" node to control the thrusters and manipulator.

For data transfer and connection of peripheral devices, the following interfaces are used: Ethernet, USB, RS-232, 1-Wire, i2c. High bandwidth devices are connected to Ethernet (host computer, navigation controller, video cameras, Wi-Fi router). In remote control mode, communication with the surface is also carried out via Ethernet.

“Don't tell me what you value, show me your budget,
and I'll tell you what you value”
Joe Biden, president of the United States

Our sponsors

The N. N. Andreyev Acoustics Institute is a Russian research facility dedicated to the study of acoustics. It was established in 1953 in Moscow, as part of the Lebedev Physical Institute of the Academy of Sciences of the USSR. It is named after its founder, Nikolay N. Andreyev
MARINET is a maritime high-tech association supporting advanced technologies development, technological and research teams. The Working Group of the same name is also a part of the National Technology Initiative. National Technology Initiative (NTI) is a key long-term program of the public-private partnership in development of promising new markets based on high-tech solutions that will determine development of the global and Russian economy in the next 15-20 years.

The Robotics Development Center LLC (CRD) was founded on December 24, 2013. Specializes in club activities for children from 5 to 18 years old. Conducts classes in various areas of robotics. Now the Center for the Development of Robotics consists of 13 branches in 8 settlements. During its existence, the CRR students have won more than 250 awards at competitions of various levels: city, regional, national and international. The center takes pride in the achievements of its students and supports them.

MSU Robotics
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