cornell university autonomous …cuauv.org/files/sponsorship-packet/sponsorship2014.pdfour team is...

ORNELLNIVERSITYUTONOMOUSNDERWATEREHICLE

CUAUV

SPONSORSHIP 2013 - 2014

CUAUV | SPONSORSHIP INFORMATION | 2013-2014

contents 3 about us 4 team facts 5 competition overview 6 competition details 7 the vehicle 8 subteams11 outreach12 sponsor us13 sponsorship levels14 contact

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about uswe are a team of students exploring the cutting edge of un-manned underwater vehicle technology.

we compete annually in the international RoboSub competi-tion organized by the Association for Unmanned Vehicle Systems International (AUVSI) and held at the Space and Na-val Warfare Command Research facility in San Diego, CA.

we placed first out of approximately 30 teams in 2013, 2012, 2010, 2009, and 2003. In 2011, we placed second. Our team has placed first annually in technical design from 2002 to 2010 and in 2012 and 2013. In 2011, we placed second in technical de-sign. We hope to continue with our success next year. In 2014, our team is taking ideas from previous years and continuing to innovative and improve on the new vehicle’s design.

we depend on the generous support of our sponsors and could not exist without such support. We welcome monetary and in-kind donations to help support our endeavors in creating and improving autonomous underwater vehicles.

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Founded in 1999, this year marks our 15th anniversary.

We are a team of 43 students coming from three of Cornell’s colleges.

We come from ten different majors and have placed top ten every year.

We have four faculty advisors: Profes-sors Graeme Bailey, Peter Jackson Bruce Land, and Alan Zehnder.

The development of the autonomous underwater vehicle (AUV) is a year-long process. First, we spend more than half a year designing and the vehicle. This is then followed by building, testing, integration, and competition preparation, respectively. Typically, the competition challenges imitate many obstacles in current under-water research. Apart from excelling at the competition, CUAUV is at the forefront of discovering and implementing research techniques that help the industry overcome problems in the underwater robotics field. We are a team of great talent and our suc-cess has drawn tremendous interest from industry leaders and researchers alike.

Over 20,000 man-hours per year are spent working on the vehicle.

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competitionCUAUV competes in the international RoboSub competition organized by the Association for Un-manned Vehicle Systems International (AUVSI) Foundation and the Office of Naval Research, and held at at SSC Pacific’s TRANSDEC pool in San Diego, CA. The competition is co-sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) Foundation and the U.S. Of-fice of Naval Research (ONR) with the goal of advancing the development of AUVs. The event serves to foster ties between young engineers and organizations developing AUV technologies. The competition mission elements and tasks are designed to simulate real-world challenges such as visual recognition of objects, navigation and acoustic sensing. The following images of mission ele-ments were taken by CUAUV’s 2013 vehicle, Ragnarok.

competition layout 2014


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1. To begin the course, the vehicle must pass through a validating gate.

2. Three different buoys are moored to the floor cycling through different colors, and the vehicle must strike and set two specific different buoys to a particular color.

3. The vehicle must pass through a horizontal pipe and two floating risers on each end.

4. Four bins are arranged in a 2x2 array, and the vehicle must drop up to two mark-ers in specified bins.

5. The vehicle must fire tor-pedos through the designat-ed 7” primary and second-ary hexagons for maximum points.

6. The vehicle must turn the steering wheel more than 360° and move the shifter to the opposite direction.

7. An acoustic pinger leads the vehicle to an object, with which it must finally surface within a recovery zone.

mission elements 2013

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FEATURES:

Dry weight: 70 lbs

Dimensions: 41” L x 23” W x 18” H

Max Speed: 0.5 knots

Run time: 2 hours

Power: Two 8000 mAh lithium-poly-mer batteries

CUAUV is proud to present Gemini, its 2014 vehicle. Gemini improves upon its predecessor in every aspect of its development, with more flexible electrical systems, enhanced user in-terfaces, and new double hull design to decrease overall size and weight. The goals for our team in 2014 include

Improving upon our robust sealing systemDeveloping stereovision capabili-tiesOptimizing the vehicle’s weight and size as well as the number of com-ponentsIntegrating a new hydrophone sys-tem with custom hardwareRevamping wire-management and electronics maintenance by sepa-rating custom circuitry parts from part we receive from our sponsors

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The software on the vehicle is powered by a mobile quad-core Intel Core i7 Haswell processor on a COM-Express motherboard, along with an Adata mSATA SSD. Our software stack starts with Debian “Wheezy” GNU/Linux and features a custom shared memory system for centralized vehicle state with interfaces supporting C/C++ and Python programs. Sensor outputs are fused in a Kalman filter to provide reliable vehicle position, velocity, and orientation. The vision system features a multi-threaded, extensible framework based on the OpenCV computer vision library to easily manage capture sources and vision processing modules. These modules use techniques such as multicolorspace segmentation and statistical moment analysis to quickly isolate visual mission components. Our tree-based mission system allows us to write flexible missions for testing, competition, and research purposes. New features this year include a quater-nion based controller, more accurate mission element localization, a comprehensive vision testing and tagging application, and high efficiency video streaming.

Gemini’s mechanical infrastructure consists of a vehicle frame, avacuum-sealed pressure vessel, a unified pneumatics system and avariety of smaller enclosures. The frame of the vehicle consists of fiveuni-body lightweight aerospace trusses, which mount the majority ofvehicle components without the use of brackets. The main pressurevessel is sealed using a vacuum to house and protect a large portionof Gemini’s electronics, including the computer and, new to this year, the Doppler Velocity Log (DVL). It also provides mounting for the stereoscopic camera array. The pneumatics system is implemented with a large enclosure that contains the solenoid valves and manifold. The pneumatics system is used to actuate the grabber, fire torpedoes and drop markers. In addition, a number of other enclosures house electronics in need of isolation, including our hydrophone array and batteries.

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sens

ors An advanced sensor suite is key to the vehicle providing useful data

to the users, as well as allowing accurate control of the vehicle’s movements.The vehicle has multiple FireWire AVT Guppy cameras to provide both downward and forward views from the sub. It is also equipped with an advanced acoustic system (hydrophones) which include a passive array built with three Reson piezoelectric elements. Signal processing is done using a combination of analog filtering and digital signal processing on an Analog Devices SHARC 21369. With this system, heading and elevation to a pinger can be computed to within one degree. This year we are working to expand the system to include active element capabilities using an entirely new output board with custom outside-the-rails amplifiers to drive elements and a new architecture using a hybrid DSP+FPGA processing back-end.

Gemini is also equipped with sensors that provide feedback on dynamics to allow for precise control. This year a custom three-axis compass based on Honeywell chips will be used to measure vehicle heading, while depth will be measured by measured by an MSI pres-sure sensor. Our team is also developing a custom IMU to measure angular velocity and linear acceleration on all three axes. Another key sensor is the Doppler Velocity Log (DVL) which returns vehicle velocity in surge and sway. This allows for closed-loop velocity con-trol, giving the vehicle the ability to hover.

electr

ical The Gemini electrical system has a 1.5-3 hour runtime us-

ing two Lithium polymer batteries. The entire power system is hot-swappable, including changing between battery and bench power. Internally the sub uses regulated voltage rails at +5, +12, and +24 Volts. Custom-designed sensor and control boards use a CUAUV-designed serial protocol to support rapid integration with the main software stack.


outreachThroughout the semester, our team organizes mul-tiple outreach events to better acquaint the greater Cornell and Ithaca communities with our team and our sponsors. In addition, we also host a Boy Scouts Workshop annually, and give tours of our Experiential Learning Lab.

Girl Scouts WorkshopOur team hosts an annual workshop for Girl Scouts so that the girls can earn their “Science in Action” badge. Girl Scouts rotate through several stations led by CUAUV members and participate in differ-ent hands-on activities to learn about principles of science and engineering.

Ithaca SciencenterDuring our presentation at the Ithaca Sciencenter, we invite children from the audience to participate in vehicle demos, such as torpedo launching and image recognition. We are excited about bringing hands-on science activities to Ithaca’s youth and introducing children to science and engineering.

Open Pool TestThe Cornell and Ithaca communities are invited to Teagle pool to watch this year’s vehicle maneuver through a replication of the previous year’s obstacle course. The open pool test encourages the Ithaca community to take an interest in engineering, espe-cially in the field of underwater robotics.

Lake TestingWe have partnered with the floating classroom project to test our vehicle in Cayuga Lake. Our goal is to increase vehicle durability so that the vehicle can dive deeper for longer periods of time in harsh lake environments. We also collect data from the lake to aid in environmental research.

Ways you can sponsor the team:• Monetary Donations• Hardware Donations• Software Donations• Airline Mileage Donations

sponsor usOur achievements would not be possible without the generous support of individuals and industry partners like yourselves.

*Listed: Platinum (left) and Gold Sponsors (right)


sponsorship levelsPlatinum (Over $5,000) • Company sponsorship/logo on tri-annual newsletter sent to alumni, staff and other sponsors • Prime location of company logo on competition vehicle • Company name on ‘14 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘14 competition paper, poster, brochure and sponsorship packet • First priority in company info-session hosting with team and access to team resume bookGold ($2,500-5,000) • Company logo on competition vehicle • Company name on ‘14 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘14 competition paper, poster and brochure • Priority in info-session hosting with team and access to team resume bookSilver ($1000 to $2,500) • Company name on ‘14 competition uniform • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘14 competition paper, poster and brochure • Opportunity for info-session hosting with team and access to team resume bookBronze (Up to $1000) • Company name, logo and website link on the team website (cuauv.org/sponsors) • Company name on ‘14 competition paper, poster and brochure • Opportunity for info-session hosting with team and access to team resume bookIndividual/Alumni Sponsorship • Recognition in next newsletter and alumni mailings (with permission) • Receive the same benefits as corporate sponsors in accordance to the levels above • Supporting CUAUV’s tradition of excellence beyond your years on the team


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B62 Upson HallCornell University,Ithaca, NY 14853

http://www.cuauv.org

http://twitter.com/cuauv

http://www.giving.cornell.edu/give/Select “Other” under Designation and enter “CUAUV” in the ‘Other designa-

tion or special instructions’ area

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THANK YOU.

cornell university autonomous …cuauv.org/files/sponsorship-packet/sponsorship2014.pdfour team is...

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