1. PropaGator Oral Report 3 Andrew Wegener IMDL 2012

2. Contents Objective Mechanical Design Electrical Design Software Design Future Applications 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. Mechanical Design ▫Custom Fiberglass Body  Trimaran Design ▫Propelled by hacked bilge pump coupled to propeller ▫Rudder attached to servo for steering ▫Pontoons for stabilization

5. Electrical Design ▫Custom Control Board ▫Xbee for wireless communication ▫LCD feedback ▫Sensors:  Micromag 3  Maxbotix Sonars  EM-408 GPS

6. Software Design ▫GPS Waypoint Navigation  Parse GPS Data(NMEA standard)  Calculate desired heading ▫PD controller  Sets rudder position based on magnetometer heading and desired heading ▫Obstacle Avoidance  Uses sonar to detect if object is near and sets actuator values acordingly to avoid the object.

7. Future Applications Add water quality sensors(temperature and PH) Add a leak detection sensor Add another water/air based robot to aid PropaGator Modify/redesign PropaGator to use differential steering, brushless motors, and a monohull design

8. Questions