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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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