MAE 435 Project Design and Management II

7 December, 2011

1

ASV MAE Team Members

Team A Team B Brian Skoog John Lee Jeff Roper Paul Hart Stephanie McCarthy Andrew Vaden

John Bernas Eric Starck Jason Putman Kevin Mcleod

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

2

ECE Team Nimish Sharma Justin Maynard Robert Tolentino Bibek Shrestha Sushil Khadka

ObjectiveImprove current ASV for the Summer 2012

Association for Unmanned Vehicle Systems International annual

RoboBoat Competition

3

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 TasksChanged from last

year4

Solution ApproachDetermine/purchase sensors that provide competitive

performance

Formulate a navigation logic

Integrate all sensors

Test and evaluate sensors and navigation logic

Install electronics on boat

5

Project ComponentsLiDARSensor gimbal mount and codeNavigation logic New onboard computerElectronics caseArduino/Ardupilot integration

6

LiDARSensor testing

Full sunlightSensor/Computer

Communication

7

LiDAR

8

Data Interpretation

Sensor Gimbal MountSwitched to

single axisCoded using

Arduino and accelerometer

9

Navigation LogicDefined scenarios

based on:Distance to buoysColor of buoysApproach angle

LiDAR as primary sensor

Computer Vision as secondary sensor

10

Navigation CodeWritten in C++

80% CompleteIF/ELSE loops

Compiled with MS Visual Studio

11

New Onboard Computer

12

Electronics case

13

Improve watertight integrity

Air flowComponent

placement

Electronics case

14

Arduino/Ardupilot IntegrationArdupilot integrated

sensorsAccelerometerGyroCompassGPS

Communication with PCECE team help

15

Gantt Chart

16

Summary/DeliverablesConstructed & Programmed GimbalBuilt and tested new onboard computerModified electronics caseArduino/Ardupilot live-time communicationLiDAR Integration

Data extraction completeNavigation C++ Code

Model complete

17

Questions?

18