MAE 435 Project Design and Management II
7 December, 2011
1
ASV MAE Team Members
Advisors
 Dr Gene Hou
(Faculty Advisor)
 Stanton Coffey (Graduate Advisor)
 Justin Selfridge (Graduate Advisor)
Team A
Team B
ECE Team
 Brian Skoog
 John Bernas
 Nimish Sharma
 John Lee
 Eric Starck
 Justin Maynard
 Jeff Roper
 Jason Putman
 Robert Tolentino
 Paul Hart
 Kevin Mcleod
 Bibek Shrestha
 Stephanie McCarthy
 Sushil Khadka
 Andrew Vaden
2
Objective
 Improve current ASV for the Summer 2012 Association for
Unmanned Vehicle Systems International annual
RoboBoat Competition
3
RoboBoat Competition
 Primary Tasks
 Speed Test

Locate and complete a
straight course as fast as
possible
 Navigation Test
 Navigate a course of buoys
with several turns and
obstacles
 Secondary Tasks
 Changed from last year
4
Solution Approach
 Determine/purchase sensors that provide competitive performance
 Formulate a navigation logic
 Integrate all sensors
 Test and evaluate sensors and navigation logic
 Install electronics on boat
5
Project Components
 LiDAR
 Sensor gimbal mount and code
 Navigation logic
 New onboard computer
 Electronics case
 Arduino/Ardupilot integration
6
LiDAR
 Sensor testing
 Full sunlight
 Sensor/Computer
Communication
7
LiDAR
 Data Interpretation
8
Sensor Gimbal Mount
 Switched to single
axis
 Coded using
Arduino and
accelerometer
9
Navigation Logic
 Defined scenarios based
on:
 Distance to buoys
 Color of buoys
 Approach angle
 LiDAR as primary sensor
 Computer Vision as
secondary sensor
10
Navigation Code
 Written in C++
 80% Complete
 IF/ELSE loops
 Compiled with MS
Visual Studio
11
New Onboard Computer
12
Electronics case
 Improve watertight
integrity
 Air flow
 Component placement
13
Electronics case
14
Arduino/Ardupilot Integration
 Ardupilot integrated
sensors
 Accelerometer
 Gyro
 Compass
 GPS
 Communication with PC
 ECE team help
15
Gantt Chart
16
Summary/Deliverables
 Constructed & Programmed Gimbal
 Built and tested new onboard computer
 Modified electronics case
 Arduino/Ardupilot live-time communication
 LiDAR Integration
 Data extraction complete
 Navigation C++ Code
 Model complete
17
Questions?
18