1. PropaGator Oral Report 2 Andrew Wegener IMDL 2012

2. Contents Objective Current Status Special Sensor Questions

3. Objective PropaGator is an intelligent autonomous surface vehicle (ASV) designed to clean up the pollution in our oceans. PropaGator navigates to GPS waypoints that are known to have lots of pollution between them and nets are used to remove the pollutants from the ocean.

4. Current Status Mechanical Design ▫Custom Fiberglass Body ▫Actuators Mounted Electrical Design ▫Custom Controller Board Software Design ▫Initializations Complete

5. Special Sensor GPS Waypoint Navigation ▫Parse GPS Data(NMEA standard) ▫Convert Data to UTM ▫Rotate UTM coordinates  Y is north, X is east

6. Special Sensor cont. GPS Waypoint Navigation ▫Use MicroMag3 to determine angle between current heading and heading in line with GPS waypoint ▫Make way to the waypoint avoiding obstacles with sonar

7. Questions