1 / 15

Autonomous Surface Vehicle

Autonomous Surface Vehicle. ME 435 : Stanton Coffey, Pat Gray, Jack Nagle, Sam Riahi , Matt Cline ME 434 : Jeff Roper, Brian Skoog , Stephanie McCarthy, Bobby Lee ME Grad : Justin Selfridge ECE : Alex, Bibek , Kouassi , Nimish , Shikha , Khakal , Sushil ECE Grad : Loc

ordell
Download Presentation

Autonomous Surface Vehicle

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Autonomous Surface Vehicle ME 435: Stanton Coffey, Pat Gray, Jack Nagle, Sam Riahi, Matt Cline ME 434: Jeff Roper, Brian Skoog, Stephanie McCarthy, Bobby Lee ME Grad: Justin Selfridge ECE: Alex, Bibek, Kouassi, Nimish, Shikha, Khakal, Sushil ECE Grad: Loc ECSU: George Harris, John Hayes

  2. OverviewRules • Sub Missions: • Find the hot object • Extinguish the fire • Amphibious Landing • Waterfall • Boat must be: • Less than 140 lb • Within 6’x3’x3’ dimensions • 100% autonomous • Main Missions • Strength Test • Speed Gate • Navigation Course

  3. Current WorkElectrical Box Old Box • Problems with the box: • Wrong gauge wiring • Incorrect fuses • Loose wiring • Loose components • Disorganized • Poor weight distribution • Minimal USB inputs

  4. Current WorkElectrical Box (cont.) New Box Kill Switch • Corrections: • 10 gauge wires to motors • 40 amp fuses to motors • Battery in center • Velcro for components • One or two 5-port USB hubs • Compass mounted on the bottom instead of on the lid • Master kill switch Speed Controllers Battery Micro Controller Fuse Block USB Hubs Compass

  5. Current WorkASV Trailer/Cart • An ASV trailer/cart is required for the competition • Used to take the ASV to the water • Used in dry land testing • Needs to be portable (fit in the truck)

  6. Current WorkMotor Blade Shields • By competition rules, the motor blades must be shielded • We want the shields to be removable (the previous years shield broke and we can’t remove it’s old parts) • The shields must still allow the water to flow without much loss of power and without changing the direction of the ASV

  7. Current WorkLogic • The difficulties with Logic • Need to code for every possible scenario, like: • Buoys straight ahead • Buoys left or right • Small angle between buoys • Knowing when the ASV has passed between buoys • Want to do if buoys are not in sight • Programming in C++ is difficult and time consuming • small syntax errors can cause an entire day of looking for a small mistake (like declaring a variable as an ‘int’ instead of a ‘float’)

  8. Current WorkLogic (cont.)Distance Formula Distance (D) • Stereo-vision with one camera • The angle a buoy makes with the ASV will change as the boat moves a specific distance and the distance can be calculated with this • Distance Formula q2 Travel (T) q1

  9. Current Work Logic (cont.)Distance output

  10. Current Work Logic (cont.)Multiple Buoys Output • Important logic traits • Most decisions will be based on angles and not stereo-vision • Must pass through buoys at right angles • This provides a good setup for the next buoy pair • Currently at 350 lines of code

  11. Current Work Vision Detection • OpenCV (Open source Computer Vision) • Blob Tracking • Region Growing • Removes static noise • Connects broken regions

  12. Current Work Physical Alterations • Upgrade frame material • Install new pontoons from ECSU • Water proof electrical box and cameras • Future full-function testing • Dry Land • In-Water

  13. Current Gantt Chart

  14. Current Budget

  15. Questions?

More Related