david talaiver vince adams robb morris. misson 2010 auvsi asv competition develop interest in marine...

Old Dominion University Autonomous Surface Vehicle

Competition Team

David TalaiverVince AdamsRobb Morris

Misson2010 AUVSI ASV CompetitionDevelop interest in marine robotic systemsProvide opportunities for student/industry

connection

2009 Competition RequirementsVision Based NavigationGPS Based NavigationMission Specific Ability

Carry LoadFire Weapon

Electric Power (60 VDC max)<110 LBS>10 LBS Thrust

DONE

DONE

DONE

DONE

2009 Team Objective MaRS

(Marine Research System)

Simplified Remotely Operated System

Hull Design

Power System

Vehicle Controls

Propulsion

Team StructureInterdepartmental

Mechanical Engineering Design Purchasing Decisions

Electrical Engineering Controller Logic and Programming

Engineering Technology Actuator Design

Team Progress and Plan

Hull DesignDesign requirementsLength ≤ 6 feetWidth ≤ 3 feetBuoyant force ≥ 110 lbs.Team design requirementsWeight ≤ 35 lbs.Buoyant force ≥ 175 lbsMinimize the wetted surface area of hullEasily fabricated or purchased

Off the Shelf HullHobie Float Cat 60Specifications:

Length: 60"Width: 43"Weight: 21 lbs.Capacity: 250 lbs.

First approachNot for sale

Aluminum Hull Design•1/16 inch aluminum sheet

•Weight ≈ 12 lbs

•Buoyant force ≈ 200 lbs

•Length ≈ 4 feet

•Length is ruled by Available brake

•Reinforced by cross sectional ribs

•Sealed by waterproof adhesive and rivets

x 2x (2.5)x 1.6x (x2+1.6x2).

5 (x2+(2).5x2).5

1.00 2.00 1.41 1.60 1.89 1.731.25 2.50 1.77 2.00 2.36 2.171.50 3.00 2.12 2.40 2.83 2.601.75 3.50 2.47 2.80 3.30 3.032.00 4.00 2.83 3.20 3.77 3.462.25 4.50 3.18 3.60 4.25 3.902.50 5.00 3.54 4.00 4.72 4.332.75 5.50 3.89 4.40 5.19 4.763.00 6.00 4.24 4.80 5.66 5.203.25 6.50 4.60 5.20 6.13 5.633.50 7.00 4.95 5.60 6.60 6.063.75 7.50 5.30 6.00 7.08 6.504.00 8.00 5.66 6.40 7.55 6.934.25 8.50 6.01 6.80 8.02 7.364.50 9.00 6.36 7.20 8.49 7.794.75 9.50 6.72 7.60 8.96 8.235.00 10.00 7.07 8.00 9.43 8.665.25 10.50 7.42 8.40 9.91 9.095.50 11.00 7.78 8.80 10.38 9.535.75 11.50 8.13 9.20 10.85 9.966.00 12.00 8.49 9.60 11.32 10.396.25 12.50 8.84 10.00 11.79 10.836.50 13.00 9.19 10.40 12.26 11.26

Propulsion designDesign requirements•Thrust ≥ 10 lbs•Speed ≤ 10 knots•Propeller must be protected by ring

Team design requirements•Maximize thrust•Maximize maneuverability•Speed is secondary•Minimize weight

Trolling Motor12-volt, 30lbs. thrust 5 forward and 2 reverse speed controlsWeight (in pounds): 18.75 (L x W x H): 19.0 x 6.0 x 40.0Option of 2 or 3 blade propCons 12-volt motor and 24-volt system

Steering360˙ propeller vectoringOff the shelf worm gear

Power window motor Van sliding door

Potentiometer for vector angle

Power System24 volt Lithium Polymer BatteryDesirable Power Density RatioHigh amp hour rating

ControllerVictor 883 Speed controller

Operates on 24V Has capacity to work from 10-100%

output control High current capacity with low voltage drop

IFI Robot Controller Allows the operator to talk to the robot Robot controller takes operator input and

additional input from onboard sensors Sends feedback back to operator

Future WorkEnhance System to Full AutonomyEnsure knowledge transferK-12 Programs to help generate interest in

engineering

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