1. MAE 435 Project Design and Management II 7 December, 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) Stanton Coffey(Graduate Advisor) Justin Selfridge(Graduate Advisor) 2 ECE Team Nimish Sharma Justin Maynard Robert Tolentino Bibek Shrestha Sushil Khadka

3. Objective Improve current ASV for the Summer 2012 Association for Unmanned Vehicle Systems International annual RoboBoat Competition 3

4. 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 Changed from last year 4

5. Solution Approach Determine/purchase sensors that provide competitive performance Formulate a navigation logic Integrate all sensors Test and evaluate sensors and navigation logic Install electronics on boat 5

6. Project Components LiDAR Sensor gimbal mount and code Navigation logic New onboard computer Electronics case Arduino/Ardupilot integration 6

7. LiDAR Sensor testing Full sunlight Sensor/Computer Communication 7

8. LiDAR 8 Data Interpretation

9. Sensor Gimbal Mount Switched to single axis Coded using Arduino and accelerometer 9

10. Navigation Logic Defined scenarios based on: Distance to buoys Color of buoys Approach angle LiDAR as primary sensor Computer Vision as secondary sensor 10

11. Navigation Code Written in C++ 80% Complete IF/ELSE loops Compiled with MS Visual Studio 11

12. New Onboard Computer 12

13. Electronics case 13 Improve watertight integrity Air flow Component placement

14. Electronics case 14

15. Arduino/Ardupilot Integration Ardupilot integrated sensors Accelerometer Gyro Compass GPS Communication with PC ECE team help 15

16. Gantt Chart 16

17. Summary/Deliverables Constructed & Programmed Gimbal Built and tested new onboard computer Modified electronics case Arduino/Ardupilot live-time communication LiDAR Integration Data extraction complete Navigation C++ Code Model complete 17

18. Questions? 18