OLD DOMINION ASV TEAM Capt. Chris Shertzer Capt. Chris Shertzer Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter.

Old Dominion ASV team

Old Dominion ASV team Capt. Chris ShertzerAdam StofkoRichard BlanchetteBrittany GarmanGanesh BalasubramanianZach CarpenterAdvising Professor: Dr. Gene Hou

Chris1BackgroundIncreased use of autonomous roboticsSafetyAdvances in technologyIncreased support from interested partiesMilitary ApplicationsConsumer Applications

Richard2The Roboboat CompetitionCompetition Conducted by AUVSIAssociation for unmanned vehicle systems internationalDesign autonomous boatOpenCV buoy trackingGPS tracking and navigationChallenge stationsTennis ball retrievalShoot through the hoop

Chris3Car ChallengeThe boat will enter routine triggered by GPS locationThe boat will dock at the ramp section of the dockThe car will begin its tasksLeave the boat via on-board rampAcquire the ballReturn to boat with ballThe boat will exit challenge station

Challenge Station layoutBrittany4The Work BreakdownCurrent CarNeeds improvementsTires do not have an adequate treadRamp did not retract due to improper gear ratio and power sourceSensors were adequate but could be improvedNew CarAHP analysisSchematic draftingHardware selectionDraftingBudgeting

Early iteration of last years carRichard/Brittany5Video of old car

http://www.youtube.com/watch?v=WyIBuxCpkFE&feature=youtu.beBrittany6Turret Challenge

The boat will signal the turret when GPS location is reachedWhen the turret is enabled the boat will employ a freeze technique. The turret will begin its taskSearch for 1 or all of 3 rings Locate a targetShoot a NERF dart through a targetThe turret will exit the challenge station at the 2 minute mark or once all darts have been fired.Challenge Station layoutGanesh7Turret DesignDesign options Hardware selectionTwo high torque servos to provide 2 degrees of freedomHousing for thermal-IR and Camera3 barrels powered by CO2 Housing for electrical components

3D Rhino model (McNeel North America, Seattle, WA) Zach8Hull DesignAnalysis of current hullImprovementsLighterHydrodynamics increasedStructural integrityModularity considerations

3D Inventor model (Autodesk, San Rafael, CA) Adam9New Hull DevelopmentAluminum pontoon systemAngle bar deck structure

3D Rhino model (McNeel North America, Seattle, WA) Adam10 CAR BudgetItemQuantityPriceIndividualTotalCarElectronicsArduino Mega25601$50.00$50.00Protoboard1$10.00$10.00Sensor shield1$10.00$10.00battery for motors2$24.00$48.00Battery for board2$20.00$40.00Mega Prototype boards2$15.00$30.00header pins1$3.00$3.00wires1$5.00$5.00stepper motor driver2$50.00$100.00SensorsUltrasonic sensors6$8.33$49.98Accelerometer1$30.00$30.00IR sensors2$15.00$30.00sensor jumper wire2$1.50$3.00Propolsion SystemsBody (Large dry box)1$16.00$16.00A 6M 7-50PLV roller chain/ .5" Pitch, Polyvinylidene GS Roller Chain (per ft)5$11.00$55.00Valve stem seal set1$17.00$17.00PVC pipe1$10.00$10.00Means to extend the shaft1$15.00$15.003 stepper motors3$55.00$165.00Retrieval SystemsShaft1$30.00$30.00Aluminum sheet (for arm fabrication)1$25.00$25.00MiscSurge Protector1$25.00$25.00Box Velcro Strips1$12.00$12.00Sub-Total$778.98Chris11Turret BudgetItemQuantityPriceIndividualTotalTurretElectronicsArduino Mega25601$50.00$50.00Wires1$5.00$5.00Battery for board, servos and tracking1$60.00$60.00High torque servo1$130.00$130.00Barrel servo1$40.00$40.00Thermal-IR1$4,000.00$4,000.00Two-way servo assisted solenoid valve1$150.00$150.00MaterialUltra high weight molecular polyethylene 1/8"x24"x48"1$40.00$40.00Copper tubing1$5.00$5.00HardwareCO2 16g lezyne cartridges1$15.00$15.00Gears and Bearing1$30.00$30.00Foam darts1$10.00$10.00Machining CNC machining 1$95.00$95.00welding per hour/$251$125.00$125.00Sub-Total$4,755.00Hull PresentationItemQuantityPriceIndividualTotalHullHardwareAluminum Pontoons1$800 $800 Aluminum Angle Iron1$200 $200 Coosa Nautical Composite1$200 $200 Snap Grid System1$50 $50 Seabotix Thrusters2$750 $1,500 Waterproofing Equipment1$200 $200 7$25 $175 Sub-total$2,950.00Budget overviewCar $ 778.98 Turret $ 4,755.00 Labor $ 2950.00 Labor $ 33,750.00 Total $ 39,283.98 Cost analysis

Gantt Chart

Richard16ConclusionThe CompetitionJuly 8th-14th Past competitionCurrent Hull is lacking in several fundamental areasThe car used in last years competition does not complete the taskThis years competitionA new hull and deck has been designed to replace the current oneDevelopment of a new car has begun and the old car has been slated for optimizationResearch on turret completed and development has begun

Chris17Questions?As it pertains to the question18Referenceshttp://www.auvsifoundation.orghttp://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery-drones/http://www.irobot.com/us/learn/defense/firstlook.aspxhttp://www.odu.edu/eng

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