1. MAE 435 Project Design and Management II 19 October, 2011 1

2. 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) Justin Selfridge(Graduate Advisor) Stanton Coffey(Graduate Advisor) 2

3. ASV ECE Team Members Students Nimish Sharma Justin Maynard Robert Tolentino Bibek Shrestha Sushil Khadka Advisors Dr Chung-Hao Chen(Faculty Advisor) 3

4. Autonomous Surface Vehicle-ASV What is it? Vehicle (boat) that can operate with no human interaction Why do we need them? ASVs can operate in environments that are dangerous to humans (nuclear, biological, space, etc) 4

5. Objective Improve current ASV for the Summer 2012 Association for Unmanned Vehicle Systems International annual RoboBoat Competition 5

6. Primary 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 Tasks 6

7. Solution Approach Determine/purchase sensors that provide competitive performance Determine a navigation logic Integrate all sensors Test and evaluate sensors and navigation logic Debug and modify as required Install electronics on boat Test and evaluate ASV 7

8. Upgrades in Progress Computer Vision code LiDAR Sensor gimbal mount Navigation Logic New onboard computer Arduino integration 8

9. Computer Vision Primarily for buoy color detection Inputs directly to onboard computer Vision information only extracted when LiDAR detects object 9

10. LiDAR Light Detection And Ranging Primary Navigation Sensor Inputs directly to onboard computer 240 degree FOV 5.2 meter radius 10

11. Sensor Gimbal Mount Required to keep LIDAR and cameras level Uses Ardupilot gyro and accelerometer sensors to detect motion 11

12. Navigation Logic Defined scenarios based on: Distance to buoys Color of buoys Approach angle LiDAR as primary sensor Computer Vision as secondary sensor 12

13. Navigation Logic Flow Chart 13

14. New Onboard Computer Custom build/Watercooled Intel Core i3-2100T Low Power consumption Dual core/Hyperthreading Technology M4-ATX-HV DC-DC Power Converter 250 Watts maximum 6-34v DC wide input Will run on boat battery 14

15. Onboard Computer Cont. Inside Waterproof Box Pump/ Reservoir Radiator CPU HDD Wireless Motherboard RAM Power Not to Scale 15

16. Arduino Integration Ardupilot integrated sensors GPS Gyro Compass Accelerometer 16

17. Sensor Schematic 17

18. Gantt Chart 18

19. Summary Improve current ASV in order to be more competitive in RoboBoat competition primary tasks Integrate LiDAR as primary navigation sensor Build gimbal mount for navigation sensors Integrate Ardupilot Upgrade computer hardware to improve processing speed and electronics case cooling 19

20. Questions? 20