autonomous robotic boat platform -...

Autonomous Robotic Boat Platform

Team: Ryan Burke, Leah Cramer, Noah Dupes, & Darren McDannald

October 2nd, 2014

Advisors: Mr. Nick Schmidt, Dr. José Sánchez, & Dr. Gary Dempsey

Department of Electrical and

Computer Engineering

Presentation Outline

• Background

• Design Approach

• Block Diagram

• Logistics

• Summary and Conclusions

2

Presentation Outline

• Background– Objective

– Motivation

– Significance

– History

• Design Approach

• Block Diagram

• Logistics

• Summary and Conclusions

3

Objective

• 8th Annual RoboBoat Competition

(Virginia Beach, VA)

• Competition Time Frame: June – July

• Design and Build an Autonomous Boat Platform

– Versatile

– Robust

4Images taken from [1].

Motivation

• Multidisciplinary

– Electro-mechanical

– Power Electronics

– Computer Science

– Mechanical Engineering

– Communications

– Image Processing

– Embedded Systems

5

Significance

• AUVSI RoboBoat Competition

– Technical

– Prestigious

6Images taken from [1].

History

• Previous Bradley RoboBoat Teams

7Images taken from [2].

History

• Missions and Tasks From Previous Years

• What is the Difference?

– Missions Are Optional

– Tasks Are Mandatory

8

Historic Mandatory Tasks

9Image taken from [3].

Historic Mandatory Tasks

10Image taken from [3].

Historic Optional Missions

11Image taken from [3].

Historic Optional Missions

12Image taken from [4].

Historic Optional Missions

13Pictures taken from [3].

Competition Area

14Image taken from [2].

Presentation Outline

• Background

• Design Approach– Constraints and Tasks

– Subsystems

– Design Alternatives

– Design Choices

• Block Diagram

• Logistics

• Summary

15

AUVSI Competition Constraints

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

16Information taken from [3], [4], & [5]

Boat Frame

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

17

18

Boat Frame

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

19

Design Alternatives• V Bottom• Flat Bottom• Catamaran• Trimaran• Circular

V Bottom

• Advantages

– Efficient Forward Movement

• Disadvantages

– Physically Unstable Platform

– Risk of Flooding

– Limited Motor Configuration

20Image taken from [6]

Flat Bottom

• Advantages

– Stable Platform

• Disadvantages

– Difficult to Maneuver

– Risk of Flooding

21Image taken from [6]

Catamaran

• Advantages

– Stable Platform

– Spacious

– High Weight Capacity

• Disadvantages

– Difficult to Maneuver

– Density of Pontoons

– Weight Distribution

22Image taken from [7]

Trimaran

• Advantages

– Stable Platform

– Spacious

– High Weight Capacity

• Disadvantages

– Difficult to Maneuver

– Additional Weight

23Image taken from [7]

Circular

• Advantages

– ASV Always Faces Direction of Travel

• Disadvantages

– Mechanical Platform

– Slow to Initiate Movement

– Provides Overshoot

24Image taken from [8]

Boat Frame

• Design Choice

– To Be Determined After the Release of AUVSI 2015 Regulations

• Design Preference

– Trimaran

• Stable Platform

• Spacious

• High Weight Capacity

• Allows for a Variety of Motor Configurations

25

Power Supply

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

26

27

Power Supply

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

28

Design Alternatives• Batteries• Solar

Power Supply

• Design Choice

– Batteries

• LiFe (Lithium Iron Phosphate)

• 15 Ahr/battery

29

Motors and Controller

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

30

31

Motors and Controller

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

32

Design Alternatives• Two Motors• Four Motors

(Offset Angles)• Single Pivoting

Motor

Two Motors

• Advantages

– Simple Control

• Disadvantages

– Limited Maneuverability

– No Strafing

33Image taken from [9]

Four Motors (Offset Angles)

• Advantages

– Full Range of Motion

• Disadvantages

– Complex Control

– Inefficient Power Use

34

Single Pivoting Motor

• Advantages

– Simple Control

• Disadvantages

– Limited Maneuverability

– No Strafing

– Additional Motor for Direction Control

35Image taken from [10]

Motors and Controller

• Design Choice

– To Be Determined After the Release of AUVSI 2015 Regulations

36

37

Kill Switch

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

38

39

Kill Switch

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

40

Design Alternatives• AUVSI Restricts

Design Alternatives

Kill Switch

• Design Choice

– A Single 1.5” Diameter Red Button Located on the Vehicle

– Disconnects Power From All Motors and Actuators

41

Central Processor

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

42

43

Central Processor

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

44

Design Alternatives• x86 Processor• ARM Architecture

Central Processor

• Design Choice

– x86 mini-ITX motherboard

• High Computing Power

• Supports a Variety of Operating Systems

• Does Not Require Additional Cost

45

Remote Control

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

46

47

Remote Control

Constraints 2012 2013 2014AutonomyBuoyancyCommunicationDeployableEnergy SourceKill Switche-Kill SwitchPayloadPayload LocationPropulsion

Remote-Controllable

SafetySizeSurfaceTowableWaterproofWeight

48

Design Alternatives• 8 Channel R/C• 802.11b/g/n

Remote Control

• Design Choice

– Existing 8 Channel R/C

49

Vision

• Navigation Test

– Image Processing

50Image taken from [3]

51

Positioning

• GPS Coordinates

52Image taken from [3].

53

GPS

54Images taken from [11] & [12].

GPS

55Images taken from [11] & [12].

GPS

56Images taken from [11] & [12].

GPS Technical Details

57

Image Name Accuracy (m)Operating

Voltage (V)Operating Current

(mA)Cost ($)

Adafruit Ultimate GPS Breakout

< 3.0 3.0 - 5.5 25 39.95

Venus GPS with SMA Connector

< 2.5 3.3 29 49.95

GPS Receiver - EM-506

< 2.5 4.5 - 6.5 45 - 55 39.95

GPS Receiver - GP-635T

< 2.5 3.3 - 5 56 39.95

Images taken from [11] & [12].

Directed Travel

• GPS Coordinates

58Image taken from [3].

59

Compass

60Image taken from [13].

Compass

61Image taken from [13].

Compass

62Image taken from [13].

Compass

63

Image Name Frequency (Hz)Operating

Voltage (V)Operating

Current (mA)Cost ($)

CMPS 10 75 3.0 - 5.5 25 39.95

Image taken from [13].

Wireless Adapter

• Historically Present

– 802.11b/g/n

• Remote Access

– Debugging

64

65

Presentation Outline

• Background

• Design Approach

• Block Diagram– Connections Between Subsystems

– Central Processor

– GPS/Compass

– Remote Control

• Logistics

• Summary

66

67

68

69

70

71

72

73

74

75

Presentation Outline

• Background• Design Approach• Block Diagram• Logistics

– Division of Labor– Schedule– Societal Impacts– Environmental Concerns– Safety Measures– Resources/Facilities– Economic Analysis

• Summary and Conclusions

76

Division of Labor

77

Gantt Chart

78

Gantt Chart

79

1st Semester Milestones

10/2/14• Proposal

Presentation

10/16/14• Proposal

Document

10/30/14• Webpage

Release

11/20/14• Progress

Presentation

80

2nd Semester Milestones

2/19/15• Progress

Presentation

3/26/15• Project

Demonstration

4/9/15 • Final Presentation

4/15/15 • Student Expo

4/16/15 • Report Draft Due

4/24/15 • Poster Presentation

4/30/15 • Final Report

81

Societal Impact

• Naval Reconnaissance Applications

• Hazardous Rescue

• Water Travel Safety

• Marine Research and Exploration

82

Environmental Concerns

• Batteries Housing

• Obstacle Avoidance

• Closed Course Use Only

83

Safety Measures

• Emergency Stops

• Shrouded Motors

• Manual Override

• Protective Circuit Covers

84

Resources and Facilities

• Bradley Senior Lab

• Markin pool

• Transportation

85

Economic Analysis

• Expenses Include:

– New Boat Frame

– Circuitry Components

– Waterproof Housing

– Motor(s)

– Miscellaneous

86

Low Cost Design

• Software to be Utilized

– MATLAB

– Atmel Studios

– Ubuntu

– OpenCV

• Materials Inherited From Previous Projects

– Complete Savings of approx. $850

• AUVSI Competitors Spend $10,000+

87

Expenses

88

Item Cost

Boat Frame $500

Circuitry $150

Waterproof Housing $300

Motor(s) $350

Miscellaneous $200

TOTAL DESIGN COST $1500

Summary and Conclusions

• Design Flexible, Robust, and Versatile Platform

• Generate Interest in Bradley ECE Department

• Operate Within a $1500 Budget

89

T E A M O B S C E N E

90

T E A M On

B S C E N E

91

T E A M On

Bo

a

r

d

S C E N E

92

T E A M On

Bo

a

r

d

Se

l

f

-

g

o

v

e

r

n

e

d

C E N E

93

T E A M On

Bo

a

r

d

Se

l

f

-

g

o

v

e

r

n

e

d

Co

m

p

u

t

e

r

E N E

94

T E A M On

Bo

a

r

d

Se

l

f

-

g

o

v

e

r

n

e

d

Co

m

p

u

t

e

r

En

g

a

g

i

n

g

i

n

N E

95

T E A M On

Bo

a

r

d

Se

l

f

-

g

o

v

e

r

n

e

d

Co

m

p

u

t

e

r

En

g

a

g

i

n

g

i

n

Na

u

t

i

c

a

l

E

96

T E A M On

Bo

a

r

d

Se

l

f

-

g

o

v

e

r

n

e

d

Co

m

p

u

t

e

r

En

g

a

g

i

n

g

i

n

Na

u

t

i

c

a

l

Ev

e

n

t

s

97

References

[1] AUVSI Foundation. (2014). RoboBoat – Foundation [Online]. Available: http://www.auvsifoundation.org/foundation/competitions/roboboat/

[2] AUVSI Foundation. (2014). Competition Photos – Foundation [Online]. Available: http://www.auvsifoundation.org/competitions/roboboat/photos

[3] AUVSI Foundation. (2013). 6th RoboBoat Competition – Final Rules [Online]. Available:https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2013_final_rules.pdf

[4] AUVSI Foundation. (2014). 7th RoboBoat Competition – Final Rules [Online]. Available: https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2014_prelim_rules.pdf

[5] AUVSI Foundation. (2012). 5th RoboBoat Competition – Final Rules [Online]. Available: https://sakai.bradley.edu/access/content/group/ECE497S01T2014SP/Client%20Ideas/Mr.%20Schmidt%20_%20Dr.%20Sanchez/RoboBoat%20Rules/RoboBoat_2012_final_rules.pdf

[6] hull: various hull bottoms. Art. Britannica Online for Kids [Online]. Available: <http://kids.britannica.com/comptons/art-167158>.

[7] Aveek. (28 March 2009). Multihull [Online]. Available: http://commons.wikimedia.org/wiki/File:Multihull.svg#mediaviewer/File:Multihull.svg

[8] G YassineMrabet Talk. (23 November 2007). A simple Torus [Online]. Available: http://commons.wikimedia.org/wiki/File:Simple_Torus.svg

[9] muttonpagl. (1 September 2013). Powerboat Plans Building Wooden DIY Wooden Boat Plans [Online]. Available: http://muttonpagl.wordpress.com/2013/09/01/powerboat-plans-building-wooden-diy-wooden-boat-plans/

[10] rotciv2. rotciv2’s Bucket [Online]. Available: http://s20.photobucket.com/user/rotciv2/media/c72b6292.jpg.html[11] Sparkfun. GPS Buying Guide [Online]. Available: https://www.sparkfun.com/pages/GPS_Guide[12] Adafruit. SEARCH RESULTS FOR: GPS [Online]. Available: http://www.adafruit.com/search?q=gps&b=1[13] RobotShop. Magnetic Sensors/ Compass [Online]. Available: http://www.robotshop.com/en/magnetic-sensors-

compass.html

98

Autonomous Robotic Boat Platform

Team: Ryan Burke, Leah Cramer, Noah Dupes, & Darren McDannald

October 2nd, 2014

Advisors: Mr. Nick Schmidt, Dr. José Sánchez, & Dr. Gary Dempsey

Department of Electrical and

Computer Engineering

99

APPENDIX

100