Jonathan Wong Chong
Jonathan Wong Chong
Jonathan Wong Chong
Jonathan Wong Chong
Jonathan Wong Chong
• 14.8V Polymer Li-Ion Batteries
o Only powering thrusters
• 19v 4Ah Li-Ion External Laptop
Battery
o Powers main CPU unit
o Lasts roughly 2-3 hours
o Essentially powers all USB
devices as well
• 12v Li-Ion 18650 Box Battery
o Regulated to power actuation
system
Jonathan Wong Chong
Jonathan Wong Chong
Matthew Neafie
Matthew Neafie
Matthew Neafie
Psuedo steps
Matthew Neafie
Psuedo steps
Matthew Neafie
Matthew Neafie
Matthew Neafie
Images from Robert Castle
Matthew Neafie
Matthew Neafie
Gate
Parking
Torpedo
Matthew Neafie
Removed
Gate
Parking
Torpedo
Matthew Neafie
Matthew Neafie
Matthew Neafie
The Path Planning algorithm can be viewed as a greedy algorithm because
it always chooses the closest vertex in V - S to add to S.
//insert all vertices into priority queue
//Extract-min (first extraction is simply s)
//for each neighbor
//RELAX(u,v,w)
//update label of neighbor,
//decrease-key v.d in priority queue
Fibonacci Heap – O(|V|log|V| + E) time
Uses map from SLAM, Goal from Task Manager, calls decision-maker
Matthew Neafie
Matthew Neafie
Weighted Total Output
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Julius Cobb
Daniel Cifredo
Daniel Cifredo
Daniel Cifredo
Budget Exercise
Daniel Cifredo
AUV Estimated Budget
A. Personnel
Name
Jon Wong Chong
Julius Cobb III
Matthew Neafie
Daniel Cifredo
Subtotal of Personnel
B. Fringe Benefits
C. Total Personnel Expenses
Job Description
Team Lead Lead Electrical Systems
Test Engineer
Lead Program Designer
Secretary Treasurer
Base/hr
$38.00
$35.00
$35.00
$30.00
Hours/wks
15/25
15/25
15/25
15/25
Total
= 15% of A
=A+B
14250
13125
13125
11250
51750
7762.5
59512.5
D. Parts and Materials
Name
Hydrophones
Description
Pinger Detection
Traxxas #2056 Waterproof Servo
PVC - 10 ft
PVC connector - elbow
PVC connector - Cap
Orange Duct Tape 15 yd
PVC glue
Subtotal of Parts and Materials
Total Direct Costs
Overhead Costs
E. Total Costs
F. Travel Costs
G. Shipping Costs
H. Total Project Costs
A servo that is used with the ball drop
Build obstacle course
Build obstacle course
Build obstacle course
Build obstacle course
Build obstacle course
=45% of Direct Costs
Quantity(#of units)
4
1
8
2
4
4
3
Price including estimated taxes
and shipping
Costs
$300
$15
$5.50
$2.50
$2.50
$5
$5
1,200.00
$16
$47
$5
$11
$21
$16
1,316.63
60,829.13
27373.1085
88,202.24
1600
900
90,702.24
Daniel Cifredo
Budget Exercise
Hydrophones
Pinger Detection
4
$300
1,200.00
Traxxas #2056 Waterproof Servo A servo that is used with the ball drop
1
$15
$16
PVC - 10 ft
Build obstacle course
8
$5.50
$47
PVC connector - elbow
Build obstacle course
2
$2.50
$5
PVC connector - Cap
Build obstacle course
4
$2.50
$11
Orange Duct Tape 15 yd
Build obstacle course
4
$5
$21
PVC glue
Build obstacle course
3
$5
$16
Subtotal of Parts and Materials
1,316.63
Part Pricing with Hydrophones
Part Prices without Hydrophones
Hydrophones
Traxxas #2056 Waterproof Servo
PVC - 10 ft
Traxxas #2056 Waterproof Servo
PVC - 10 ft
PVC connector - elbow
PVC connector - Cap
Orange Duct Tape 15 yd
PVC connector - elbow
PVC connector - Cap
Orange Duct Tape 15 yd
PVC glue
PVC glue
Risk Assessment - Technical
Risk
Arduino mega board malfunction
Probability
Low
Consequence
Catastrophic
Strategy
1.
2.
3.
Ensure proper hookups
Circuit analysis to keep current under max rating
Save all programs in safe locations
Risk
Zotac computer malfunction or damaged
Probability
Low
Consequence
Catastrophic
Strategy
1.
2.
3.
4.
Risk
Thrusters draw maximum current
Probability
Very Low
Consequence
Severe
Strategy
1.
2.
Ensure all cables properly connected
Ensure watertight seal maintained
Check battery charge
Save all programs in safe locations
Write code to prevent max draw
Circuit Analysis to determine max current draw allowed
Daniel Cifredo
Risk Assessment - Technical
Risk
Probability
Consequence
Strategy
Computer Vision Fails during use
Moderate
Catastrophic
1. Ensure camera sensors are waterproofed
2. Calibrate camera sensors when change in environment occurs
3. Use OpenCV library
Risk
Camera code incorrect
Probability
Moderate
Consequence
Catastrophic
Strategy
1.
2.
Risk
Data Storage Process does not work
Probability
Moderate
Consequence
High
Strategy
1.
2.
Develop pseudo-code for camera data
Develop testing methods for camera
Develop understanding of SQL
Check to ensure enough memory is available to store data
Daniel Cifredo
Risk Assessment - Technical
Risk
Probability
Consequence
Strategy
Path Planning process fails
Moderate
Catastrophic
1. Develop understanding of SQL
2. Develop understanding of OpenCV
3. Verify algorithm for planning path is correct
Risk
Decision Making process fails
Probability
Moderate
Consequence
Catastrophic
1. Develop understanding of SQL
2. Develop understanding of OpenCV
3. Verify algorithm for determining next step is correct
4. Verify tasks are implemented correctly
Strategy
Daniel Cifredo
Jonathan Wong Chong