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Old Dominion ASV team

Old Dominion ASV team. Capt. Chris Shertzer Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter. Advising Professor: Dr. Gene Hou. Background. Increased use of autonomous robotics Safety Advances in technology

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Old Dominion ASV team

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  1. Old Dominion ASV team Capt. Chris Shertzer Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter Advising Professor: Dr. Gene Hou

  2. Background • Increased use of autonomous robotics • Safety • Advances in technology • Increased support from interested parties • Military Applications • Consumer Applications

  3. The Roboboat Competition • Competition Conducted by AUVSI • Association for unmanned vehicle systems international • Design autonomous boat • OpenCV buoy tracking • GPS tracking and navigation • Challenge stations • Tennis ball retrieval • Shoot through the hoop

  4. Car Challenge • The boat will enter routine triggered by GPS location • The boat will dock at the ramp section of the dock • The car will begin its tasks • Leave the boat via on-board ramp • Acquire the ball • Return to boat with ball • The boat will exit challenge station Challenge Station layout

  5. The Work Breakdown • Current Car • Needs improvements • Tires do not have an adequate tread • Ramp did not retract due to improper gear ratio and power source • Sensor’s were adequate but could be improved • New Car • AHP analysis • Schematic drafting • Hardware selection • Drafting • Budgeting Early iteration of last years car

  6. Video of old car http://www.youtube.com/watch?v=WyIBuxCpkFE&feature=youtu.be

  7. Turret Challenge The boat will signal the turret when GPS location is reached When the turret is enabled the boat will employ a freeze technique. The turret will begin its task Search for 1 or all of 3 rings Locate a target Shoot a NERF dart through a target The turret will exit the challenge station at the 2 minute mark or once all darts have been fired. Challenge Station layout

  8. Turret Design • Design options • Hardware selection • Two high torque servos to provide 2 degrees of freedom • Housing for thermal-IR and Camera • 3 barrels powered by CO2 • Housing for electrical components 3D Rhino model (McNeel North America, Seattle, WA)

  9. Hull Design • Analysis of current hull • Improvements • Lighter • Hydrodynamics increased • Structural integrity • Modularity considerations 3D Inventor model (Autodesk, San Rafael, CA)

  10. New Hull Development • Aluminum pontoon system • Angle bar deck structure 3D Rhino model (McNeel North America, Seattle, WA)

  11. CAR Budget

  12. Turret Budget

  13. Hull Presentation

  14. Budget overview

  15. Cost analysis

  16. Gantt Chart

  17. Conclusion • The Competition • July 8th-14th • Past competition • Current Hull is lacking in several fundamental areas • The car used in last years competition does not complete the task • This years competition • A new hull and deck has been designed to replace the current one • Development of a new car has begun and the old car has been slated for optimization • Research on turret completed and development has begun

  18. Questions?

  19. References • http://www.auvsifoundation.org • http://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery-drones/ • http://www.irobot.com/us/learn/defense/firstlook.aspx • http://www.odu.edu/eng

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