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Old Dominion ASV team. Chris Shertzer , Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter. Dr. Gene Hou Advising Professor. The Roboboat Competition. Competition Conducted by AUVSI
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Old Dominion ASV team Chris Shertzer, Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman GaneshBalasubramanian Zach Carpenter Dr. Gene Hou Advising Professor
The Roboboat Competition • Competition Conducted by AUVSI • Association for unmanned vehicle systems international • Design autonomous boat • Visual processing for Navigation • Competition Scoring based on Static Judging and Competition Challenges
Hull and Deck Design • Design of Deck • 1 ¼” x 1¼” x 1/8” 6061-T6 aluminum angle bar • 20”X40” rectangular frame • Modular challenge systems • ¼” holes ever inch along the longitudinal rains will allow for the mission systems to be located in to provide for the desired longitudinal center for gravity (LCG) • 1/8” 6061-T6 pontoon supports will allow for easy attachment of pontoons and motorized wheels for ground testing. • 1 ¼” SCH 40 aluminum piping and milled 6061-T6 aluminum for motor mount. • Design of Pontoons • Length over all (LOA) 56” • Beam of 8” per pontoon • Separation length ratio (S/L) or .42 • 1/8” 6061-T6 aluminum construction. Current Hull & Deck Design
Hydrostatic and Holtrop Analysis from ORCA 3D and GHS • Hydrostatics and Holtrop Analysis • Maximum Displacement of 198 lbs • Design draft 3.76 in 80 lbs • Total resistance of 9.6 lbs at maximum speed of 5 Kts
Minn Kota Propellers • The Minn Kota propellers were tested using the old ASV hull • Pitch: 3.49 in or 88.78 mm • High Aspect ratio • Thrust: 133.45 N • 2 blades • To reduce the dip experienced in the test trial, smaller propellers were designed • The number of propeller blades was increased from 2 to 3 to add stability
OpenProp Propeller • OpenProp Input Variables: • hub diameter: .08 m • number of blades: 3 • rotation speed: 1710 RPM • rotor diameter: .228 m • required thrust: 133.45 N • ship speed: 5 m/s • # radial panels:20 • # chordwisepanels:20 • fluid density: 1000 kg/m3 • OpenProp design simulation is exported to SolidWorks • Propeller will be printed in plastic by a 3D printer
Kort Nozzle Design • Design of nozzle • 4.72inch inner radius • 3.75inch nozzle length • 40% area increase from blade tip to nozzle opening • Notched for clamping around the torpedo cap. • 3D printed using ABS • Weighs 2.38lbs Current Kort nozzle design Minn Kota Torpedo
CFD & Testing NACA 10 nozzle flow data Shear Stress • Testing • Bare nozzle tested using CFD • Ideal speed is 2.53 m/s • Digital Hanging scale Velocity Profile
Automated Docking Challenge • Shape recognition and buoy color detection. • OpenCV library for shape location from real-time image. • Boat must dock temporarily to complete challenge.
Filtering and Processing • Frame taken from webcam • Greyscale conversion • Applying Color Threshold • Canny interpretation • Masking
Logic of Shape Detection • Calculate approximate Polygons • Count Vertices • Calculate angle at each vertex • Calculate Ratio of area’s • Constrain object with rectangle Vtc=3
