ASV Senior Design Project Midterm Report Fall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross

Competition An international competition Focuses on the development of automated vehicle design. Recognizes innovation in design and functionality Judged on static and dynamic design and performance w/ obstacle course

Autonomous Surface Vehicle History The RoboBoat competition Been around for 5 years; going on 6 Currently in Virginia Beach Hosted by the Founders Inn & Spa The competition may last up to a week

Autonomous Surface Vehicle Standings 2010Prize – 1 st University of Michigan$8,000 – 2 nd Central Florida$5,000 – 3 rd Rhode Island$1,000 – ODU No placement on record 2011 – 1 st Rhode Island$6,000 – 2 nd Central Florida$4,000 – 3 rd Georgia Tech$3,000 – ODU-15 th (last) 2012 – 1 st University of Michigan$7,000 – 2 nd Villanova $5,000 – 3 rd Embry Riddle Aeronautical $3,000 – ODU6 th place Also won open source award

Aside from places, the competition also recognizes achievement: – Transportability – Hull form design – Open source – Rookie best performance – Innovation in design and cost performance – Etc. Autonomous Surface Vehicle Other Awards

Autonomous Surface Vehicle Purpose There are multiple obstacles designed to test the ability of the autonomous surface vehicle. Top ranking team are able to attempt or accomplish at least one obstacle.

Autonomous Surface Vehicle Purpose Old Dominion University needs to be able to attempt and accomplish at least one challenge station. – The amphibious landing and object retrieval station worth the most points.

Autonomous Surface Vehicle Purpose Aim: Have an operational deployable autonomous land vehicle, capable of completing a recovery mission, by December 3, Object Retrieval: The ASV must find an object on a surface, 1ft high, 6ft wide, and 10ft wide.

Use Arduino Mega with a motor controller. Use the traditional tri-wheel design. Use multiple range sensors to avoid falling off the platform and to find the object to pick up. Fabrication of Car

Crane rotates 180° and lowers car Car receives signal to start – Car commences search program – Car commences retrieval program Car signals crane it has the object Crane “reels in” car and returns to initial position. Logic of the Car/Crane

Option One Car moves in a helical pattern The sensor recognizes a change in distance The car will center itself The car grabs object

Option Two Car drives straight until edge Car follows edge On reaching a corner car follows a sweep pattern

Option Three Car rotates 360° Duel sensors recognize if object is in front of car Car drives straight to object

Autonomous Surface Vehicle Basic Prototype Drawings Scoop Scoop Mouth Mounting Plate for Scoop Pin for Attaching Mouth/Scoop Objective Hockey Puck

Autonomous Surface Vehicle Basic Prototype Drawings Scoop Prototype Assembled Mechanism

Alternative Retrieval Mechanism

Pros Scoop – Universal shape retrieval – Easy to mount Velcro – Easier to program – Fewer components

Cons Scoop – Less room for error – More costly Velcro – Size constraints – Only viable for flat surfaces

Current Status on Retrieval Mechanisms Recently received sensors Begin programming Assemble mechanism Test Assembled unit Improve accuracy

The boat will have a crane that will deploy the car The crane will rotate 180° The car will be lowered down by fishing line feed through the crane Autonomous Surface Vehicle Method: Deployment

Autonomous Surface Vehicle Method: Retrieval Crane receives signal from car that the object has been captured Crane reels in the car using a fishing reel mounted on the ASV Crane rotates to initial position

Autonomous Surface Vehicle Basic Prototype Drawings PVC Crane

Rotating Base Horizontal Pipe Vertical Pipe Elbow Joint to connect Horizontal/Vertical

Autonomous Surface Vehicle Basic Prototype Drawings Aluminum Crane

Counter Balance Horizontal Square Pipe Vertical Square Pipe “T” Joint to connect Horizontal/Vertical/Counter Balance

Normal Force Bending moment Shear Stress Crane Stress Analysis

Autonomous Surface Vehicle Budget

Autonomous Surface Vehicle Gantt Chart

Autonomous Surface Vehicle Website For more information on the current project, visit: sv_fa12/index.htm

Questions?