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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?