BlueROV2 TeamAquaman

DANTE D’AMICO, ALEC ESPIÑA, MATTHEW KIRBY,

DANIEL LENTINI, FEDERICO MACCHIAVELLI, KEVIN WARD

AcknowledgementsØ Dr. Brendan Englot – Research Mentor

Ø Jinkun Wang – PhD Student

Ø John “Jake” McConnell – PhD Student

Ø Paul Szenher – Undergraduate Student

This material is based upon work funded by the U.S. Department of Homeland Security under Cooperative Agreement No. 2014-ST-061-ML0001.

The views and conclusions contained in this document are those of the authors and should not be interpreted as necessarily representing the official policies, either expressed or implied, of the U.S. Department of Homeland Security.

Ø Maritime Security Center

ØThe Robust Field Autonomy Lab

Ø The Davidson Lab & The Proof Lab

ØU.S. Marine Merchant Academy

Project Overview

BlueROV2 and Autonomous Mapping

How can we increase the BlueROV2’s payload capacity

while still allowing agile autonomous navigation?

RESEARCH

QUESTION

Homeland Security

• Oil spills• Underwater rescue missions

Disasters

• Remote or dangerous underwater environments• Exploration

Terrain Mapping

• Harbor and underwater pier pilings• Safer and more efficient to use ROVs than divers

in many cases

Infrastructure Inspections

Our Approach/Methodology

Constructing the physical BlueROV2

Designing the electronics layout

Implementing the ROS software

Testing the BlueROV2

Distribution of Labor

• Dante D’Amico: SIT / CPE• Matthew Kirby: SIT / ME• Daniel Lentini: SIT / ME• Kevin Ward: SIT / CPE

Mechanical

• Alec Espiña: UPR / EE• Federico Macchiavelli: UPR / EE

Electrical & Software

Project Outcomes

Construction• Built BlueROV2 with heavy configuration

• Designed sensor mounts and supports

System Architecture

Electronics•Modified electronics tray and attached third party sensors

and equipment

• Constructed new circuit and connected to existing BlueROV2 system

• Implemented exterior power switches

ROS Software• Set up and installed RFAL’s ROS software on Jetson Nano

• Pulled and visualized live data from VN-100, DVL, and both Oculus sensors simultaneously

Testing• Interfaced BlueROV2 functions to

game controller through QGroundControl

• Tank testing in Davidson Lab Towing Tank

Testing Videos

Future Objectives

Next Steps

•Design lowering system and printed circuit board •Upgrade thrusters and processing power•Test in non-ideal conditions

•Add more sensors

Conclusions

MSC SRI 2019

The BlueROV2 team successfully designed, built, and tested a customized BlueROV2 capable of diving and exploring underwater environments.

Thank you for your attention!Any questions?