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Old Dominion University Autonomous Surface Vehicle Competition Team

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

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  1. Old Dominion University Autonomous Surface VehicleCompetition Team David Talaiver Vince Adams Robb Morris

  2. Misson 2010 AUVSI ASV Competition • Develop interest in marine robotic systems • Provide opportunities for student/industry connection

  3. 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

  4. 2009 Team Objective MaRS (Marine Research System) • Simplified Remotely Operated System • Hull Design • Power System • Vehicle Controls • Propulsion DONE DONE DONE DONE

  5. Team Structure • Interdepartmental • Mechanical Engineering • Design • Purchasing Decisions • Electrical Engineering • Controller Logic and Programming • Engineering Technology • Actuator Design

  6. Team Progress and Plan

  7. 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

  8. Off the Shelf Hull • Hobie Float Cat 60 • Specifications: Length: 60"Width: 43"Weight: 21 lbs.Capacity: 250 lbs. • First approach • Not for sale

  9. 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

  10. 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

  11. 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

  12. Steering • 360˙ propeller vectoring • Off the shelf worm gear • Power window motor • Van sliding door • Potentiometer for vector angle

  13. Power System • 24 volt Lithium Polymer Battery • Desirable Power Density Ratio • High amp hour rating

  14. Controller • Victor 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

  15. Future Work • Enhance System to Full Autonomy • Ensure knowledge transfer • K-12 Programs to help generate interest in engineering

  16. Sponsors

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