OLD DOMINION ASV TEAM Chris Shertzer, Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter

BACKGROUND Increased use of autonomous robotics Increased use of autonomous robotics Safety Safety Advances in technology Advances in technology Increased support from interested parties Increased support from interested parties Military Applications Military Applications Consumer Applications Consumer Applications Lockheed Martin’s Marlin Autonomous Underwater Vehicle (AUV)

THE ROBOBOAT COMPETITION Competition Conducted by AUVSI Competition Conducted by AUVSI Association for unmanned vehicle systems international Association for unmanned vehicle systems international Design autonomous boat Design autonomous boat OpenCV buoy tracking OpenCV buoy tracking GPS tracking and navigation GPS tracking and navigation Challenge stations Challenge stations Underwater Light Identification Underwater Light Identification Automated Docking Automated Docking

Hull and Deck Design Design of Deck 1 ¼” X 1 ¼” X 1/8” 6061-T6 aluminum angle bar 20”X40” rectangular frame Modular mission systems 1/8” holes ever inch along the longitudinal rails 1/8” 6061-T6 pontoon supports will allow for easy attachment of pontoons and motorized wheels for ground testing. Design of Pontoons Pontoons will be built by Wing Inflatables® 55” length over all (LOA) and 8” or 10” in diameter (available stock) Polyurethane construction, 40 oz/yrd 2 Current Hull & Deck Design

Hydrostatic and Holtrop Analysis from ORCA 3D 8” Dia Pontoon10” Dia Pontoon 8” Dia 40 lbs LCG 45% Draft ” 7 7 Knts 10” Dia 40 lbs LCG 45% Draft – 3.66” Knts

SHROUD There are two halves to the shroud that will be clamped together, shielding the propeller The width and distance of the protecting shroud with regards to the propeller will be varied over a series of tests to find the optimal measurements

PROPELLER Minn Kota, Endura C2 trolling motor Minn Kota, Endura C2 trolling motor New propeller adds 30lb of thrust New propeller adds 30lb of thrust In the process of redesigning propeller tips for optimal thrust In the process of redesigning propeller tips for optimal thrust Minn Kota trolling motor

AUTOMATED DOCKING CHALLENGE Shape recognition and buoy color detection. Shape recognition and buoy color detection. OpenCV library for shape location from real-time image. OpenCV library for shape location from real-time image. Boat must dock temporarily to complete challenge. Boat must dock temporarily to complete challenge.

UNDERWATER LIGHT IDENTIFICATION CHALLENGE Activate lights by sending JSON message over HTTP. Activate lights by sending JSON message over HTTP. 3 of 5 colored lights will turn on for 500ms each. 3 of 5 colored lights will turn on for 500ms each. Color sensor feeds results to processor. Color sensor feeds results to processor. Processor runs logic to identify and report light sequence. Processor runs logic to identify and report light sequence.

GANTT CHART

CONCLUSION The Competition The Competition July 8 th -13 th July 8 th -13 th This year’s competition This year’s competition A new hull and deck have been designed A new hull and deck have been designed New thrusters are being tested New thrusters are being tested Challenge station modules are under development Challenge station modules are under development

QUESTIONS?

REFERENCES