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

2. 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 will be held July 8-14 2013

3. Competition Focuses on the development of automated vehicle design. Recognizes innovation in all different aspects of design and functionality Judged on static and dynamic design and performance An obstacle course meant to be automatically navigated

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

5. 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. The amphibious landing and object retrieval station –worth most points

6. Autonomous Surface Vehicle Purpose Competition Aim Have a deployable autonomous land vehicle, to recover an object This Teams Aim – Create a deployment and retrieval mechanism for the robotic car. – Do research and prepare information for future semesters.

7. Key components: – The Deployment Arm – The Robotic Car The boat will deploy the car via a rotating arm utilizing a reel of fishing line. The ASV will utilize a scoop to pick up the located puck Autonomous Surface Vehicle Method: Overall

8. 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 Fishing reel begins to retrieve the car Logic completely written in Arduino Using an Arduino Mega Logic of the Car/Crane

9. Codeing for Crane

12. Crane

13. ASV Deployment – Boat equipped with a crane composed of: base a 1.5ft PVC vertical component a 90 degree PVC elbow a 2.5ft horizontal PVC component – A gear box will turn the crane, using a belt, on top of a 4 inch steel, zinc- plated, ball-bearing plate. Autonomous Surface Vehicle Method: Deployment

14. Crane Deflection Analysis

15. Total Deflection In the Crane The total deflection in the PVC crane is 0.00476 in.

16. Autonomous Surface Vehicle Basic Prototype Drawings PVC Crane

17. Design considerations Cantilever VS Support Strut Cantilever beam Weight: 2.72lb Deflection:.26”

18. Design considerations Cantilever VS Support Strut Cantilever beam with support Weight: 3.57lb Deflection:.137”

19. Design considerations 1” or 2” Diameter PVC? 1 inch Weight: 1.76lb Deflection: 2.34”

20. Design considerations Counter balance or no? With Weight: 4.89lb Deflection:.136”

21. Overview of PATRAN Analysis Weight (Pounds) Deflection (inch) Counter Weight 4.890.136 No Counter Weight 3.570.137 Support 3.570.137 No Support 2.720.26 One Inch 1.762.34 Two Inch 3.570.137

22. Design Considerations While the counter balance was not needed to avoid yield in the PVC, one was needed for weight of the ASV. The ball-bearing plate, proved to deflect without the counter balance. This caused slipping of the belt and cause deflection at the base of the arm.

23. Electrical Engineers Helping o Matt Hinson o Clayton Stagg o John Too Two stepper motors are connected Rangefinders have been added Xbee communication is in the development stage Integration between Car/Crane/ASV on the way Scoop design prepared Fabrication of Car

24. Autonomous Surface Vehicle Basic Prototype Drawings Scoop Prototype Assembled Mechanism

25. Stamp

26. Initial Search Pattern Car rotates 360° Duel sensors recognize if object is in front of car Car drives straight to object

27. Failsafe Search Grid Car drives straight until edge Car follows edge On reaching a corner car follows a sweep pattern

28. Complications Due to funding, the linear actuators for the scoop could not be ordered. The object to be retrieved will not be announced until after this semester – The design and logic is there for next semester. The ASV is still under development for another team. – The signal transmission could not be tested. – An approximate weight was used to test stability of arm and reel

29. Conclusion Built a functioning prototype of a deployment/retrieval crane Have plans in place for future teams to complete further modifications.

30. Autonomous Surface Vehicle Budget

31. Autonomous Surface Vehicle Gantt Chart

32. Questions?