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ASV Senior Design Project Final Report Fall 2012

ASV Senior Design Project Final Report Fall 2012. Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross . Autonomous Surface Vehicle History. The RoboBoat competition

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ASV Senior Design Project Final Report Fall 2012

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

  2. 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 will be held July 8-14 2013

  3. Competition • Focuses on the development of automated vehicle design. • Recognizes innovation in all different aspects of design and functionality • Judged on static and dynamic design and performance • An obstacle course meant to be automatically navigated

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

  5. 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. • The amphibious landing and object retrieval station –worth most points

  6. Autonomous Surface VehiclePurpose • Competition Aim • Have a deployable autonomous land vehicle, to recover an object • This Teams Aim • Create a deployment and retrieval mechanism for the robotic car. • Do research and prepare information for future semesters.

  7. Autonomous Surface VehicleMethod: Overall • Key components: • The Deployment Arm • The Robotic Car • The boat will deploy the car via a rotating arm utilizing a reel of fishing line. • The ASV will utilize a scoop to pick up the located puck

  8. 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 • Fishing reel begins to retrieve the car • Logic completely written in Arduino • Using an Arduino Mega

  9. Codeing for Crane

  10. Codeing for Crane

  11. Codeing for Crane

  12. Crane

  13. Autonomous Surface VehicleMethod: Deployment • ASV Deployment • Boat equipped with a crane composed of: • base • a 1.5ft PVC vertical component • a 90 degree PVC elbow • a 2.5ft horizontal PVC component • A gear box will turn the crane, using a belt, on top of a 4 inch steel, zinc-plated, ball-bearing plate.

  14. Crane Deflection Analysis • Normal Deflection • 0.0038in • Angular Deflection • θ = L T / Ip G = L T / (π D4-d4 /64) G • in

  15. Total Deflection In the Crane • The total deflection in the PVC crane is 0.00476 in.

  16. Autonomous Surface VehicleBasic Prototype DrawingsPVC Crane

  17. Design considerationsCantilever VS Support Strut Cantilever beam Weight: 2.72lb Deflection: .26”

  18. Design considerationsCantilever VS Support Strut Cantilever beam with support Weight: 3.57lb Deflection: .137”

  19. Design considerations1” or 2” Diameter PVC? 1 inch Weight: 1.76lb Deflection: 2.34”

  20. Design considerationsCounter balance or no? With Weight: 4.89lb Deflection: .136”

  21. Overview of PATRAN Analysis

  22. Design Considerations • While the counter balance was not needed to avoid yield in the PVC, one was needed for weight of the ASV. • The ball-bearing plate, proved to deflect without the counter balance. • This caused slipping of the belt and cause deflection at the base of the arm.

  23. Fabrication of Car • Electrical Engineers Helping • Matt Hinson • Clayton Stagg • John Too • Two stepper motors are connected • Rangefinders have been added • Xbee communication is in the development stage • Integration between Car/Crane/ASV on the way • Scoop design prepared

  24. Autonomous Surface VehicleBasic Prototype DrawingsScoop Prototype Assembled Mechanism

  25. Stamp

  26. Initial Search Pattern • Car rotates 360° • Duel sensors recognize if object is in front of car • Car drives straight to object

  27. Failsafe Search Grid • Car drives straight until edge • Car follows edge • On reaching a corner car follows a sweep pattern

  28. Complications • Due to funding, the linear actuators for the scoop could not be ordered. • The object to be retrieved will not be announced until after this semester • The design and logic is there for next semester. • The ASV is still under development for another team. • The signal transmission could not be tested. • An approximate weight was used to test stability of arm and reel

  29. Conclusion • Built a functioning prototype of a deployment/retrieval crane • Have plans in place for future teams to complete further modifications.

  30. Autonomous Surface VehicleBudget

  31. Autonomous Surface VehicleGantt Chart

  32. Questions?

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