Cornell University AUTONOMOUS - CUAUVcuauv.org/files/sponsorship-packet/sponsorship-2013.pdfOur team is also developing a custom IMU to measure ... brochure and sponsorship packet

Cornell UniversityAUTONOMOUSunde r w at e r vehic le

SPONSORSHIP 2013

CUAUV | SPONSORSHIP INFORMATION | 2012-2013

contents 3 about us 4 team facts 5 competition overview 6 competition details 7 the vehicle 8 subteams11 outreach12 sponsor us13 sponsorship levels14 contact

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about uswe are a team of students exploring the cutting edge of un-manned underwater vehicle technology.

we compete annually in the international RoboSub competi-tion organized by the Association for Unmanned Vehicle Systems International (AUVSI) and held at the Space and Na-val Warfare Command Research facility in San Diego, CA.

we placed first out of approximately 30 teams in 2012, 2010, 2009, and 2003. In 2011, we placed second. Our team has placed first annually in technical design from 2002 to 2010 and in 2012. In 2011, we placed second in technical design. We hope to continue with our success next year. The 2013 vehicle is based off of the 2012 vehicle and improves upon its previous design

we depend on the generous support of our sponsors and could not exist without such support. We welcome monetary and in-kind donations to help support our endeavors in creating and improving autonomous underwater vehicles.

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facts

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Founded in 1999, this year marks our 14th anniversary.

We are a team of 43 students coming from three of Cornell’s colleges.

We come from ten different majors and have placed top ten every year.

We have four faculty advisors: Profes-sors Graeme Bailey, Peter Jackson Bruce Land, and Alan Zehnder.

The development of the autonomous underwater vehicle (AUV) is a year-long process. First, we spend more than half a year designing and the vehicle. This is then followed by building, testing, integration, and competition preparation, respectively. Typically, the competition challenges imitate many obstacles in current underwater research. Apart from excelling at the competition, CUAUV is at the forefront of discovering and imple-menting research techniques that help the industry overcome problems in the underwater robotics field. We are a team of great talent and our success has drawn tremendous interest from industry leaders and researchers alike.

Over 20,000 man-hours per year are spent working on the vehicle.

team

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competitionCUAUV competes in the annual International RoboSub Competition at SSC Pacific’s TRANS-DEC pool in San Diego, CA. The competition is co-sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) Foundation and the U.S. Office of Naval Research (ONR) with the goal of advancing the development of AUVs. The event serves to foster ties between young engineers and organizations developing AUV technologies. The competi-tion mission elements and tasks are designed to simulate real-world challenges such as visual recognition of objects, navigation and acoustic sensing. The following images of mission ele-ments were taken by CUAUV’s 2012 vehicle, Killick.

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competition layout


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1. To begin the course, the vehicle must pass through a validating gate.

2. Three different buoys of varying heights are moored to the floor, and the vehicle must strike two specific dif-ferent buoys in a particular order.

3. The vehicle must pass through a horizontal pipe approximately 10 feet above the floor.

4. Four bins are arranged in a row, the vehicle must drop up to two markers in speci-fied bins.

5. The vehicle must fire tor-pedos through both the red and blue sides of the target while scoring more points for shooting through the smaller target

8. An accoutic pinger leads the vehicle to an object which it must finally surface with in a recovery zone.

6. Cylinders must be freed from two different cutouts.

7. The vehicle must then grab a wreath structure and transport it according to competition details. Then it must release it in a desig-nated area.

7 ragnarok

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FEATURES:

Dry weight: 75 lbs

Dimensions: 39” L x 22” W x 21” H

Max Speed: 0.4 knots

Run time: 1.5 hours

Power: Two 4450 mAh lithium-poly-mer batteries

CUAUV is proud to present Ragnarok, its 2013 vehicle. Ragnarok improves upon its predecessor in every aspect of its development, with more flexible electrical systems, enhanced user interfaces, and a new vehicle frame type. The goals for our team in 2013 include the following:

Improving upon our robust sealing systemDeveloping stereovision capabili-tiesOptimizing the vehicle’s weight and size as well as the number of com-ponentsIntegrating a new hydrophone sys-tem with custom hardware

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businessITexternal enclosures

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The software on the vehicle is powered by a mobile quad-core Intel Core i7 Ivy Bridge processor on a Mini-ITX motherboard, along with an Intel SSD. Our software stack starts with Debian GNU/Linux and features a custom shared memory system for centralized vehicle state with interfaces, supporting C/C++ and Python programs. Sen-sor outputs are fused in a Kalman filter to provide reliable vehicle position, velocity, and orientation. The vision system features a multi-threaded, extensible framework based on the OpenCV computer vi-sion library to easily manage capture sources and vision processing modules. These modules use techniques such as multicolorspace segmentation and statistical moment analysis to quickly isolate visual mission components. Our tree-based mission system allows us to write flexible missions for testing, competition, and research purposes. Improvements being worked on for this year includes im-proved high level mission logic, improved waypoint navigation and vehicle controls, vision tagging, and stereo vision integration.

Ragnarok’s mechanical infrastructure consists of a vehicle frame, a vacuum-sealed pressure vessel, a unified pneumatics system and a variety of smaller enclosures. The frame of the vehicle consists of six uni-body lightweight aerospace trusses, which mount the majority of vehicle components without the use of brackets. The main pressure vessel is sealed using a vacuum to house and protect a large portion of Ragnarok’s electronics, including the computer. It also provides mounting for the stereoscopic camera array and downward camera. The pneumatics system is implemented with a large enclosure that holds the solenoid valves and manifold. The pneumatics system is used to actuate the grabber, fire torpedoes and drop markers. In ad-dition, Ragnarok also has a custom enclosure for our new Teledyne Explorer Doppler Velocity Log (DVL).

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sens

ors An advanced sensor suite is key to the vehicle providing useful data

to the users, as well as allowing accurate control of the vehicle’s movements.The vehicle has multiple FireWire AVT Guppy cameras to provide both downward and forward views from the sub. It is also equipped with an advanced acoustic system (hydrophones) which include a passive array built with four Reson piezoelectric elements. Signal processing is done using a combination of analog filtering and digital signal processing on an Analog Devices SHARC 21369. With this system, heading and elevation to a pinger can be computed to within one degree. This year we are working to expand the system to include active element capabilities using an entirely new output board with custom outside-the-rails amplifiers to drive elements and a new architecture using a hybrid DSP+FPGA processing back-end.

Ragnarok is also equipped with sensors that provide feedback on dynamics to allow for precise control. This year a custom three-axis compass based on Honeywell chips will be used to measure vehicle heading, while depth will be measured by measured by an MSI pres-sure sensor. Our team is also developing a custom IMU to measure angular velocity and linear acceleration on all three axes. Another key sensor is the Doppler Velocity Log (DVL) which returns vehicle velocity in surge and sway. This allows for closed-loop velocity con-trol, giving the vehicle the ability to hover.

electr

ical The Ragnarok electrical system has a 1.5-3 hour runtime us-

ing two Lithium polymer batteries. The entire power system is hot-swappable, including changing between battery and bench power. Internally the sub uses regulated voltage rails at +5, +12, and +24 Volts. Custom-designed sensor and control boards use a CUAUV-designed serial protocol to support rapid integration with the main software stack.


outreachThroughout the semester, our team organizes mul-tiple outreach events to better acquaint the greater Cornell and Ithaca communities with our team and our sponsors. In addition, we also host a Boy Scouts Workshop annually, and give tours of our Experiential Learning Lab.

Girl Scouts WorkshopOur team hosts an annual workshop for Girl Scouts so that the girls can earn their “Science in Action” badge. Girl Scouts rotate through several stations led by CUAUV members and participate in differ-ent hands-on activities to learn about principles of science and engineering.

Ithaca SciencenterDuring our presentation at the Ithaca Sciencenter, we invite children from the audience to participate in vehicle demos, such as torpedo launching and image recognition. We are excited about bringing hands-on science activities to Ithaca’s youth and introducing children to science and engineering.

Open Pool TestThe Cornell and Ithaca communities are invited to Teagle pool to watch this year’s vehicle maneuver through a replication of the previous year’s obstacle course. The open pool test encourages the Ithaca community to take an interest in engineering, espe-cially in the field of underwater robotics.

Lake TestingWe have partnered with the floating classroom project to test our vehicle in Cayuga Lake. Our goal is to increase vehicle durability so that the vehicle can dive deeper for longer periods of time in harsh lake environments. We also collect data from the lake to aid in environmental research.

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Ways you can sponsor the team:• Monetary Donations• Hardware Donations• Software Donations• Airline Mileage Donations

sponsor usOur achievements would not be possible without the generous support of individuals and industry partners like yourselves.

Sponsors shown: Analog DevicesCornell UniversityGeneral Electric General Motors Foundation

PortwellSeaconSeaPerchSolid Works

Image Labs InternationalIntelNexlogicTheia Technologies


sponsorship levelsPlatinum (Over $5,000) • Company sponsorship/logo on tri-annual newsletter sent to alumni, staff and other sponsors • Prime location of company logo on competition vehicle • Company name on ‘13 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘13 competition paper, poster, brochure and sponsorship packet • First priority in company info-session hosting with team and access to team resume bookGold ($2,500-5,000) • Company logo on competition vehicle • Company name on ‘13 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘13 competition paper, poster and brochure • Priority in info-session hosting with team and access to team resume bookSilver ($1000 to $2,500) • Company name on ‘13 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘13 competition paper, poster and brochure • Opportunity for info-session hosting with team and access to team resume bookBronze (Up to $1000) • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘13 competition paper, poster and brochure • Opportunity for info-session hosting with team and access to team resume bookIndividual/Alumni Sponsorship • Recognition in next newsletter and alumni mailings (with permission) • Receive the same benefits as corporate sponsors in accordance to the levels above • Supporting CUAUV’s tradition of excellence beyond your years on the team


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B62 Upson HallCornell University,Ithaca, NY 14853(607) 255-4041

http://www.cuauv.org

http://twitter.com/cuauv

http://www.giving.cornell.edu/give/Select “Other” under Designation and enter “CUAUV” in the ‘Other designa-

tion or special instructions’ area

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THANK YOU.

Cornell University AUTONOMOUS - CUAUVcuauv.org/files/sponsorship-packet/sponsorship-2013.pdfOur team is also developing a custom IMU to measure ... brochure and sponsorship packet

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