Autonomous Surface Vehicle MyAsia Reid 1, Linda Kpormone Buame 2, Amadi Sefah-Twerefour 2, Prosper Yaw Adiku 2, George Owusu Fordah 2, Center for Remote Sensing of Ice Sheets (CReSIS), University of Kansas, Lawrence, KS Elizabeth City State University, Elizabeth City, N C Department of Oceanography & Fisheries, University of Ghana, Legon Mentors: Dr. Eric Akers, Ben Panzer, Kyle Byers and Jerome Mitchell

2 of 20 OUTLINE Introduction Methodology Results Conclusion References

Introduction The response of organisms to changes in water quality parameters enhances our understanding of aquatic environment (Abowei, 2009). MODIS) and SeaWIFs, are limited by assumption of uniformity in pixels (Yuan et al, 2005). Designs limited to open oceans Insufficient sampling, Inaccuracy of geophysical corrections. Sampling can be augmented by using more than one mission (Bouffard et al, 2008) 3 of 20 Dunbabin et al, 2009

Design considerations Drag depends on size, shape & speed: force due to drag (F)= 0.5rhoV²CdA, lowest Cd is the best F is proportional to speed, >speed needs more thrust and a greater drain on power. 4 of 20 Weight Buoyant force and Lift Thrust Drag

Methodology 5 of 20 Design components Microcontroller (Atmega 328) Motor controllers (10A brushed) Breadboard SD Card Reader GPS -shield (09487) -module (EM 406) Temperature Sensors (LM335a) Batteries(12V/8Ah, 12V/18Ah)

Design ASV flowchart…. 6 of 20 Primary Navigation systems GPS and Gyro Sensor payload Temperature sensor Motor controllers M1 M2 Microcontroller uMMC data storage Module

Final design of ASV 7 of 20 On landIn the workshop

Arduino What is an Arduino? –is a single-board microcontroller and a software suite for programming it. The software consists of a standard programming language and the boot loader that runs on the board. –Microcontroller: The hardware consists of a simple open hardware design for the controller with an Atmel AVR processor and on-board I/O support. 8 of 20

Temperature sensor Analog temperature sensor Works like a Zener diode Calibrated at 25°C at and 5V input voltage and a 2.982V output 9 of 20 LM335A

10 of 20 GPS & Bearing…. Satellite based navigation system. Based on the network of 24 satellites. GPS intended for military use, but available for civilian use in the 1980’s. Works off satellite, tracking positions of locations. For direction, tracking and navigation. Navigation and Control (GPS)

11 of 20 Credit:

12 of 20 GPS Channel EM-406A SiRF III Receiver with Antenna Connector Vertical SMD for EM408 Coin Cell Holder - 12mm Credit: GPS Shield EM 406

13 of 20 Bearing calculations.. Bearing calculations done in radians Bearing (x) =atan2(sin(lon2-lon1)*cos(lat2),cos(lat1)*sin(lat2))sin(lat1)*cos(lat2)*cos(lon2- lon1));- degrees=x* 180/M_PI; (M_PI is the constant from math.h set for value of PI) To ensure that it remains in proper range Degrees=degrees + 360°; if degrees is less than 0 http :// drifters.doe.gov/track-a-yoto/track-a-drifter.html

14 of 20 Distance calculations Haversine distance calculations dlat= lat2-lat1 dlon=lon2-lon1 a=pow(sin(dlat/2),2)+cos(lat1)*pow(sin(dlon/2),2); c=2*atan2(sqrt(a),sqrt(1-a)); Distance= r*c;// radius of the earth in meters r = m Credit:

Results 15 of 20

ASV navigating on Clinton Lake 16 of 20

Conclusion An ASV that can navigate specific way point has been built. Future work would focus on increasing sensor capacity by putting on board more sensors as well as buoy mode and possibly obstacle avoidance. 17 of 20

Acknowledgements Thanks to: Dr. Eric Akers Dr. Claude Laird Dennis Sundermeyer Leon Searl Ben Panzer Kyle Byers Jerome Mitchell 18 of 20

References Abowei, J.F.N (2010) Salinity, Dissolved Oxygen, pH and Surface Water Temperature Conditions in Nkoro River, Niger Delta, Nigeria, Advance Journal of Food Science and Technology 2(1): 36-40, 2010 Dunbabin, M., Alistair G. and J. Udy (2009) An Autonomous Surface Vehicle for Water Quality Monitoring Autonomous Systems Laboratory, CSIRO ICT Centre, P.O. Box 883, Kenmore, QLD 4069, Australia. Get a bearing. Accessed from the world wide web on 14th June,2010 at Great circle.Accessed from the world wide web on 18th July 2010 at Haversine formula. Accessed from the world wide web on 8th July,2010 at Haversine formula.Accessed from the world wide web on 14th June 2010 at J. Bouffard,1 S. Vignudelli,2 P. Cipollini,3 and Y. Menard (2008) Exploiting the potential of an improved multimission altimetric data set over the coastal ocean. Geophysical research letters, vol. 35, l10601, 2008 Latitude and Longitude general information. Accessed from the world wide web on 11th June 2010 at Mathematics.Accessed from the world wide web on 25th June,2010 at manual/group_avr_math.html Rogue robotic [online] What is latitude and longitude. Accessed from the world wide web on 18th July 2010 at What is programming? Accessed from the world wide web on 18th July 2010 at Yuan, J., Dagg, M. J., Del Castillo C. E (2005) In-pixel variations of chl a fluorescence in the Northern Gulf of Mexico and their implications for calibrating remotely sensed chl a and other products. Department of Marine Science, University of Southern Mississippi, USA 19 of 20

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