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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

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Autonomous Surface Vehicle

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  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?

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