MAE 435 Project Design and Management II 19 October, 2011 1.

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Autonomous Surface Vehicle Project

MAE 435 Project Design and Management II

19 October, 2011

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ASV MAE Team Members

Team A Team B

Brian SkoogJohn LeeJeff RoperPaul HartStephanie MccarthyAndrew Vaden

John BernasEric StarckJason PutmanKevin Mcleod

Advisors

Dr Gene Hou (Faculty Advisor)Justin Selfridge (Graduate Advisor)Stanton Coffey (Graduate Advisor)

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ASV ECE Team Members

StudentsNimish SharmaJustin MaynardRobert TolentinoBibek ShresthaSushil Khadka

Advisors

Dr Chung-Hao Chen (Faculty Advisor)

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Autonomous Surface Vehicle-ASVWhat is it?

Vehicle (boat) that can operate with no human interaction

Why do we need them?ASVs can operate in environments that are dangerous to

humans (nuclear, biological, space, etc)

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ObjectiveImprove current ASV for the Summer 2012

Association for Unmanned Vehicle Systems International annual

RoboBoat Competition

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RoboBoat CompetitionPrimary Tasks

Speed Test Locate and complete a

straight course as fast as possible

Navigation Test Navigate a course of

buoys with several turns and obstacles

Secondary Tasks

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Solution ApproachDetermine/purchase sensors that provide

competitive performanceDetermine a navigation logicIntegrate all sensorsTest and evaluate sensors and navigation

logicDebug and modify as required

Install electronics on boatTest and evaluate ASV

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Upgrades in ProgressComputer Vision codeLiDARSensor gimbal mountNavigation LogicNew onboard computerArduino integration

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Computer VisionPrimarily for buoy

color detectionInputs directly to

onboard computerVision information

only extracted when LiDAR detects object

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LiDARLight Detection And

RangingPrimary Navigation

SensorInputs directly to

onboard computer240 degree FOV5.2 meter radius

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Sensor Gimbal MountRequired to keep

LIDAR and cameras level

Uses Ardupilot gyro and accelerometer sensors to detect motion

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Navigation LogicDefined scenarios

based on:Distance to buoysColor of buoysApproach angle

LiDAR as primary sensor

Computer Vision as secondary sensor

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Navigation Logic Flow Chart

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New Onboard ComputerCustom build/WatercooledIntel Core i3-2100T

Low Power consumptionDual core/Hyperthreading Technology

M4-ATX-HV DC-DC Power Converter250 Watts maximum6-34v DC wide input

Will run on boat battery

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Onboard Computer Cont.

Inside Waterproof Box

Pump/ Reservoir

RadiatorCPU

HDD

Wireless

Motherboard

RAM

Power

Not to Scale

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Arduino IntegrationArdupilot integrated

sensorsGPSGyroCompassAccelerometer

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Sensor Schematic

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Gantt Chart

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SummaryImprove current ASV in order to be more

competitive in RoboBoat competition primary tasks

Integrate LiDAR as primary navigation sensorBuild gimbal mount for navigation sensorsIntegrate ArdupilotUpgrade computer hardware to improve

processing speed and electronics case cooling

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Questions?