1. IMDL Spring 2012 LandYachtBot Final Presentation Michael Feliciano

2. Overview  Robot Platform  Sensor suite  Current Progress  To Be Completed  Demo Day  Weather Forecast  Contingency Plan  Questions? Comments? Concerns?

3. Robot Platform  LandYachtBot’s mechanical platform is approximately 32” long and 24” wide.  Mast stands nearly 4’ tall.

4. Sensor Suite  Conventional sensors:  LV-MaxSonar-EZ4  ADXL335 3-axis accelerometer  MicroMag3 3-axis magnetometer  Special sensors:  LOCOSYS LS20031 GPS antenna module  Wind Vane  MA3 Miniature Absolute Magnetic Shaft Encoder

5. Current Progress  Mechanical platform with removable mast, sail, and servos mounted.  Completely overhauled obstacle avoidance code using a second sonar, brake, and LCD screen feedback.  Limited control algorithms based solely on wind direction.

6. To Be Completed  Integrate navigation control algorithms with compass and GPS data.  Implement a GPS waypoint following system.  Build more robust sail with ability for sail- tension control (if time permits).

7. Demo Day  LandYachtBot will attempt to navigate a set of GPS waypoints in the parking lot between the Nuclear Science Building and MAE-C.  Waypoints will be arranged such that the Yacht must sail both with and against the wind.

8. Weather Forecast  The current weather forecast for Thursday, April 19 th does not appear favorable for my cause.  Winds of 7mph are very likely not enough to propel the Yacht.

9. Contingency Plan  Because the winds are likely not going to be strong enough for my purposes, I will be using an electric leaf blower to provide artificial wind.  I will have a 40-50 foot extension cord, but I will require an outlet to use it.

10. Questions? Comments? Concerns? 126.2 mph  Fun Fact: The current land yacht speed record is 126.2 mph (wind speeds during record run were 30 – 50 mph).  Record set by land yacht Greenbird (pictured left) on March 26, 2009. It was piloted by Richard Jenkins. Note: All credit goes to Wikipedia for information on this slide. All images in presentation belong to their respective owners.