autonomous robotic boat platform -...
TRANSCRIPT
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Autonomous Robotic Boat Platform
Team: Ryan Burke, Leah Cramer, Noah Dupes, & Darren McDannald
October 2nd, 2014
Advisors: Mr. Nick Schmidt, Dr. José Sánchez, & Dr. Gary Dempsey
Department of Electrical and
Computer Engineering
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Presentation Outline
• Background
• Design Approach
• Block Diagram
• Logistics
• Summary and Conclusions
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Presentation Outline
• Background– Objective
– Motivation
– Significance
– History
• Design Approach
• Block Diagram
• Logistics
• Summary and Conclusions
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Objective
• 8th Annual RoboBoat Competition
(Virginia Beach, VA)
• Competition Time Frame: June – July
• Design and Build an Autonomous Boat Platform
– Versatile
– Robust
4Images taken from [1].
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Motivation
• Multidisciplinary
– Electro-mechanical
– Power Electronics
– Computer Science
– Mechanical Engineering
– Communications
– Image Processing
– Embedded Systems
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Significance
• AUVSI RoboBoat Competition
– Technical
– Prestigious
6Images taken from [1].
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History
• Previous Bradley RoboBoat Teams
7Images taken from [2].
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History
• Missions and Tasks From Previous Years
• What is the Difference?
– Missions Are Optional
– Tasks Are Mandatory
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Historic Mandatory Tasks
9Image taken from [3].
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Historic Mandatory Tasks
10Image taken from [3].
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Historic Optional Missions
11Image taken from [3].
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Historic Optional Missions
12Image taken from [4].
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Historic Optional Missions
13Pictures taken from [3].
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Competition Area
14Image taken from [2].
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Presentation Outline
• Background
• Design Approach– Constraints and Tasks
– Subsystems
– Design Alternatives
– Design Choices
• Block Diagram
• Logistics
• Summary
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AUVSI Competition Constraints
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
16Information taken from [3], [4], & [5]
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Boat Frame
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Boat Frame
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Design Alternatives• V Bottom• Flat Bottom• Catamaran• Trimaran• Circular
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V Bottom
• Advantages
– Efficient Forward Movement
• Disadvantages
– Physically Unstable Platform
– Risk of Flooding
– Limited Motor Configuration
20Image taken from [6]
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Flat Bottom
• Advantages
– Stable Platform
• Disadvantages
– Difficult to Maneuver
– Risk of Flooding
21Image taken from [6]
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Catamaran
• Advantages
– Stable Platform
– Spacious
– High Weight Capacity
• Disadvantages
– Difficult to Maneuver
– Density of Pontoons
– Weight Distribution
22Image taken from [7]
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Trimaran
• Advantages
– Stable Platform
– Spacious
– High Weight Capacity
• Disadvantages
– Difficult to Maneuver
– Additional Weight
23Image taken from [7]
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Circular
• Advantages
– ASV Always Faces Direction of Travel
• Disadvantages
– Mechanical Platform
– Slow to Initiate Movement
– Provides Overshoot
24Image taken from [8]
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Boat Frame
• Design Choice
– To Be Determined After the Release of AUVSI 2015 Regulations
• Design Preference
– Trimaran
• Stable Platform
• Spacious
• High Weight Capacity
• Allows for a Variety of Motor Configurations
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Power Supply
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Power Supply
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Design Alternatives• Batteries• Solar
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Power Supply
• Design Choice
– Batteries
• LiFe (Lithium Iron Phosphate)
• 15 Ahr/battery
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Motors and Controller
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Motors and Controller
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
32
Design Alternatives• Two Motors• Four Motors
(Offset Angles)• Single Pivoting
Motor
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Two Motors
• Advantages
– Simple Control
• Disadvantages
– Limited Maneuverability
– No Strafing
33Image taken from [9]
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Four Motors (Offset Angles)
• Advantages
– Full Range of Motion
• Disadvantages
– Complex Control
– Inefficient Power Use
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Single Pivoting Motor
• Advantages
– Simple Control
• Disadvantages
– Limited Maneuverability
– No Strafing
– Additional Motor for Direction Control
35Image taken from [10]
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Motors and Controller
• Design Choice
– To Be Determined After the Release of AUVSI 2015 Regulations
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Kill Switch
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Kill Switch
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
40
Design Alternatives• AUVSI Restricts
Design Alternatives
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Kill Switch
• Design Choice
– A Single 1.5” Diameter Red Button Located on the Vehicle
– Disconnects Power From All Motors and Actuators
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Central Processor
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
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Central Processor
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
44
Design Alternatives• x86 Processor• ARM Architecture
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Central Processor
• Design Choice
– x86 mini-ITX motherboard
• High Computing Power
• Supports a Variety of Operating Systems
• Does Not Require Additional Cost
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Remote Control
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
46
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Remote Control
Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion
Remote-Controllable
SafetySizeSurfaceTowableWaterproofWeight
48
Design Alternatives• 8 Channel R/C• 802.11b/g/n
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Remote Control
• Design Choice
– Existing 8 Channel R/C
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Vision
• Navigation Test
– Image Processing
50Image taken from [3]
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Positioning
• GPS Coordinates
52Image taken from [3].
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GPS
54Images taken from [11] & [12].
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GPS
55Images taken from [11] & [12].
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GPS
56Images taken from [11] & [12].
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GPS Technical Details
57
Image Name Accuracy (m)Operating
Voltage (V)Operating Current
(mA)Cost ($)
Adafruit Ultimate GPS Breakout
< 3.0 3.0 - 5.5 25 39.95
Venus GPS with SMA Connector
< 2.5 3.3 29 49.95
GPS Receiver - EM-506
< 2.5 4.5 - 6.5 45 - 55 39.95
GPS Receiver - GP-635T
< 2.5 3.3 - 5 56 39.95
Images taken from [11] & [12].
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Directed Travel
• GPS Coordinates
58Image taken from [3].
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Compass
60Image taken from [13].
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Compass
61Image taken from [13].
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Compass
62Image taken from [13].
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Compass
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Image Name Frequency (Hz)Operating
Voltage (V)Operating
Current (mA)Cost ($)
CMPS 10 75 3.0 - 5.5 25 39.95
Image taken from [13].
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Wireless Adapter
• Historically Present
– 802.11b/g/n
• Remote Access
– Debugging
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Presentation Outline
• Background
• Design Approach
• Block Diagram– Connections Between Subsystems
– Central Processor
– GPS/Compass
– Remote Control
• Logistics
• Summary
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Presentation Outline
• Background• Design Approach• Block Diagram• Logistics
– Division of Labor– Schedule– Societal Impacts– Environmental Concerns– Safety Measures– Resources/Facilities– Economic Analysis
• Summary and Conclusions
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Division of Labor
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Gantt Chart
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Gantt Chart
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1st Semester Milestones
10/2/14• Proposal
Presentation
10/16/14• Proposal
Document
10/30/14• Webpage
Release
11/20/14• Progress
Presentation
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2nd Semester Milestones
2/19/15• Progress
Presentation
3/26/15• Project
Demonstration
4/9/15 • Final Presentation
4/15/15 • Student Expo
4/16/15 • Report Draft Due
4/24/15 • Poster Presentation
4/30/15 • Final Report
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Societal Impact
• Naval Reconnaissance Applications
• Hazardous Rescue
• Water Travel Safety
• Marine Research and Exploration
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Environmental Concerns
• Batteries Housing
• Obstacle Avoidance
• Closed Course Use Only
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Safety Measures
• Emergency Stops
• Shrouded Motors
• Manual Override
• Protective Circuit Covers
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Resources and Facilities
• Bradley Senior Lab
• Markin pool
• Transportation
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Economic Analysis
• Expenses Include:
– New Boat Frame
– Circuitry Components
– Waterproof Housing
– Motor(s)
– Miscellaneous
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Low Cost Design
• Software to be Utilized
– MATLAB
– Atmel Studios
– Ubuntu
– OpenCV
• Materials Inherited From Previous Projects
– Complete Savings of approx. $850
• AUVSI Competitors Spend $10,000+
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Expenses
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Item Cost
Boat Frame $500
Circuitry $150
Waterproof Housing $300
Motor(s) $350
Miscellaneous $200
TOTAL DESIGN COST $1500
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Summary and Conclusions
• Design Flexible, Robust, and Versatile Platform
• Generate Interest in Bradley ECE Department
• Operate Within a $1500 Budget
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T E A M O B S C E N E
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T E A M On
B S C E N E
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T E A M On
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T E A M On
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T E A M On
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References
[1] AUVSI Foundation. (2014). RoboBoat – Foundation [Online]. Available: http://www.auvsifoundation.org/foundation/competitions/roboboat/
[2] AUVSI Foundation. (2014). Competition Photos – Foundation [Online]. Available: http://www.auvsifoundation.org/competitions/roboboat/photos
[3] AUVSI Foundation. (2013). 6th RoboBoat Competition – Final Rules [Online]. Available:https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2013_final_rules.pdf
[4] AUVSI Foundation. (2014). 7th RoboBoat Competition – Final Rules [Online]. Available: https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2014_prelim_rules.pdf
[5] AUVSI Foundation. (2012). 5th RoboBoat Competition – Final Rules [Online]. Available: https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2012_final_rules.pdf
[6] hull: various hull bottoms. Art. Britannica Online for Kids [Online]. Available: <http://kids.britannica.com/comptons/art-167158>.
[7] Aveek. (28 March 2009). Multihull [Online]. Available: http://commons.wikimedia.org/wiki/File:Multihull.svg#mediaviewer/File:Multihull.svg
[8] G YassineMrabet Talk. (23 November 2007). A simple Torus [Online]. Available: http://commons.wikimedia.org/wiki/File:Simple_Torus.svg
[9] muttonpagl. (1 September 2013). Powerboat Plans Building Wooden DIY Wooden Boat Plans [Online]. Available: http://muttonpagl.wordpress.com/2013/09/01/powerboat-plans-building-wooden-diy-wooden-boat-plans/
[10] rotciv2. rotciv2’s Bucket [Online]. Available: http://s20.photobucket.com/user/rotciv2/media/c72b6292.jpg.html[11] Sparkfun. GPS Buying Guide [Online]. Available: https://www.sparkfun.com/pages/GPS_Guide[12] Adafruit. SEARCH RESULTS FOR: GPS [Online]. Available: http://www.adafruit.com/search?q=gps&b=1[13] RobotShop. Magnetic Sensors/ Compass [Online]. Available: http://www.robotshop.com/en/magnetic-sensors-
compass.html
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Autonomous Robotic Boat Platform
Team: Ryan Burke, Leah Cramer, Noah Dupes, & Darren McDannald
October 2nd, 2014
Advisors: Mr. Nick Schmidt, Dr. José Sánchez, & Dr. Gary Dempsey
Department of Electrical and
Computer Engineering
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APPENDIX
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