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Old Dominion University Autonomous Surface Vehicle Competition Team. David Talaiver Vince Adams Robb Morris. Misson. 2010 AUVSI ASV Competition Develop interest in marine robotic systems Provide opportunities for student/industry connection. 2009 Competition Requirements.

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Old dominion university autonomous surface vehicle competition team

Old Dominion University Autonomous Surface VehicleCompetition Team

David Talaiver

Vince Adams

Robb Morris


Misson
Misson

2010 AUVSI ASV Competition

  • Develop interest in marine robotic systems

  • Provide opportunities for student/industry connection


2009 competition requirements
2009 Competition Requirements

  • Vision Based Navigation

  • GPS Based Navigation

  • Mission Specific Ability

    • Carry Load

    • Fire Weapon

  • Electric Power (60 VDC max)

  • <110 LBS

  • >10 LBS Thrust


2009 team objective
2009 Team Objective

MaRS

(Marine Research System)

  • Simplified Remotely Operated System

    • Hull Design

    • Power System

    • Vehicle Controls

    • Propulsion

DONE

DONE

DONE

DONE


Team structure
Team Structure

  • Interdepartmental

    • Mechanical Engineering

      • Design

      • Purchasing Decisions

    • Electrical Engineering

      • Controller Logic and Programming

    • Engineering Technology

      • Actuator Design



Hull design
Hull Design

Design requirements

  • Length ≤ 6 feet

  • Width ≤ 3 feet

  • Buoyant force ≥ 110 lbs.

    Team design requirements

  • Weight ≤ 35 lbs.

  • Buoyant force ≥ 175 lbs

  • Minimize the wetted surface area of hull

  • Easily fabricated or purchased


Aluminum hull design
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


Propulsion design
Propulsion design

Design 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 motor
Trolling Motor

  • 12-volt, 30lbs. thrust

  • 5 forward and 2 reverse speed controls

  • Weight (in pounds): 18.75

  • (L x W x H): 19.0 x 6.0 x 40.0

  • Option of 2 or 3 blade prop

    Cons

  • 12-volt motor and 24-volt system


Steering
Steering

  • 360˙ propeller vectoring

  • Off the shelf worm gear (van door motor)

  • Potentiometer for vector angle


Power system
Power System

  • 24 volt Lithium Polymer Battery

  • Desirable Power Density Ratio

  • High amp hour rating


Controller
Controller

  • Victor 884 Speed controller

    • Operates on 12V

    • 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


The brain box
The “Brain Box”

  • Power System

  • Brain System

  • Cooling System



Future work
Future Work

  • Enhance System to Full Autonomy

  • Ensure knowledge transfer

  • K-12 Programs to help generate interest in engineering



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