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ASV Senior Design Project Midterm Report Fall 2012

ASV Senior Design Project Midterm Report Fall 2012. Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross . Competition. An international competition

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ASV Senior Design Project Midterm Report Fall 2012

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  1. ASV Senior Design ProjectMidterm ReportFall 2012 Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross

  2. Competition • An international competition • Focuses on the development of automated vehicle design. • Recognizes innovation in design and functionality • Judged on static and dynamic design and performancew/ obstacle course

  3. Autonomous Surface VehicleHistory • The RoboBoat competition • Been around for 5 years; going on 6 • Currently in Virginia Beach • Hosted by the Founders Inn & Spa • The competition may last up to a week

  4. Autonomous Surface VehicleStandings • 2010 Prize • 1st University of Michigan $8,000 • 2nd Central Florida $5,000 • 3rd Rhode Island $1,000 • ODU-2010- No placement on record • 2011 • 1st Rhode Island $6,000 • 2nd Central Florida $4,000 • 3rd Georgia Tech $3,000 • ODU-15th (last) • 2012 • 1st University of Michigan $7,000 • 2nd Villanova $5,000 • 3rdEmbry Riddle Aeronautical $3,000 • ODU6th place • Also won open source award

  5. Autonomous Surface VehicleOther Awards • Aside from places, the competition also recognizes achievement: • Transportability • Hull form design • Open source • Rookie best performance • Innovation in design and cost performance • Etc.

  6. Autonomous Surface VehiclePurpose • 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.

  7. Autonomous Surface VehiclePurpose • Old Dominion University needs to be able to attempt and accomplish at least one challenge station. • The amphibious landing and object retrieval station • worth the most points.

  8. Autonomous Surface VehiclePurpose • Aim: • Have an operational deployable autonomous land vehicle, capable of completing a recovery mission, by December 3, 2012. • Object Retrieval: • The ASV must find an object on a surface, 1ft high, 6ft wide, and 10ft wide.

  9. Fabrication of Car • Use Arduino Mega with a motor controller. • Use the traditional tri-wheel design. • Use multiple range sensors to avoid falling off the platform and to find the object to pick up.

  10. Logic of the Car/Crane • 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 • Crane “reels in” car and returns to initial position.

  11. Option One • Car moves in a helical pattern • The sensor recognizes a change in distance • The car will center itself • The car grabs object

  12. Option Two • Car drives straight until edge • Car follows edge • On reaching a corner car follows a sweep pattern

  13. Option Three • Car rotates 360° • Duel sensors recognize if object is in front of car • Car drives straight to object

  14. Autonomous Surface VehicleBasic Prototype DrawingsScoop Scoop Mouth Pin for Attaching Mouth/Scoop Mounting Plate for Scoop Objective Hockey Puck

  15. Autonomous Surface VehicleBasic Prototype DrawingsScoop Prototype Assembled Mechanism

  16. Alternative Retrieval Mechanism

  17. Pros • Scoop • Universal shape retrieval • Easy to mount • Velcro • Easier to program • Fewer components

  18. Cons • Scoop • Less room for error • More costly • Velcro • Size constraints • Only viable for flat surfaces

  19. Current Status on Retrieval Mechanisms • Recently received sensors • Begin programming • Assemble mechanism • Test Assembled unit • Improve accuracy

  20. Autonomous Surface VehicleMethod: Deployment • The boat will have a crane that will deploy the car • The crane will rotate 180° • The car will be lowered down by fishing line feed through the crane

  21. Autonomous Surface VehicleMethod: Retrieval • Crane receives signal from car that the object has been captured • Crane reels in the car using a fishing reel mounted on the ASV • Crane rotates to initial position

  22. Autonomous Surface VehicleBasic Prototype DrawingsPVC Crane

  23. Autonomous Surface VehicleBasic Prototype DrawingsPVC Crane Horizontal Pipe Elbow Joint to connect Horizontal/Vertical Rotating Base Vertical Pipe

  24. Autonomous Surface VehicleBasic Prototype Drawings Aluminum Crane

  25. Autonomous Surface VehicleBasic Prototype Drawings Aluminum Crane Horizontal Square Pipe “T” Joint to connect Horizontal/Vertical/Counter Balance Counter Balance Vertical Square Pipe

  26. Crane Stress Analysis • Normal Force • Bending moment • Shear Stress

  27. Autonomous Surface VehicleBudget

  28. Autonomous Surface VehicleGantt Chart

  29. Autonomous Surface VehicleWebsite • For more information on the current project, visit: http://dasp.mem.odu.edu:8080/~asv_fa12/index.htm

  30. Questions?

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