ASV Senior Design Project Final Report Fall 2012

ASV Senior Design ProjectFinal ReportFall 2012Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross

Autonomous Surface VehicleHistoryThe RoboBoat competitionBeen around for 5 years; going on 6Currently in Virginia Beach Hosted by the Founders Inn & SpaThe competition will be held July 8-14 2013

CompetitionFocuses on the development of automated vehicle design.

Recognizes innovation in all different aspects of design and functionality

Judged on static and dynamic design and performance

An obstacle course meant to be automatically navigated

Autonomous Surface VehicleStandingsODU has participated since 20102010- No placement on record2011- 15th 2012- 6th placeAlso won open source award 2010Prize1st University of Michigan$8,0002nd Central Florida$5,0003rd Rhode Island$1,000 20111st Rhode Island$6,0002nd Central Florida$4,0003rd Georgia Tech$3,000 20121st University of Michigan$7,0002nd Villanova $5,0003rd Embry Riddle Aeronautical $3,000

Autonomous Surface VehiclePurposeThere are multiple obstacles designed to test the ability of the autonomous surface vehicle.

Top ranking team are able to attempt or accomplish at least one obstacle.

The amphibious landing and object retrieval station worth most points

Autonomous Surface VehiclePurposeCompetition AimHave a deployable autonomous land vehicle, to recover an object

This Teams AimCreate a deployment and retrieval mechanism for the robotic car. Do research and prepare information for future semesters.

Key components:The Deployment ArmThe Robotic CarThe boat will deploy the car via a rotating arm utilizing a reel of fishing line.The ASV will utilize a scoop to pick up the located puck

Autonomous Surface VehicleMethod: OverallCrane rotates 180 and lowers carCar receives signal to startCar commences search programCar commences retrieval programCar signals crane it has the objectFishing reel begins to retrieve the car

Logic completely written in ArduinoUsing an Arduino MegaLogic of the Car/CraneCodeing for Crane

Codeing for Crane

Codeing for Crane

Crane

ASV DeploymentBoat equipped with a crane composed of: basea 1.5ft PVC vertical componenta 90 degree PVC elbowa 2.5ft horizontal PVC componentA gear box will turn the crane, using a belt, on top of a 4 inch steel, zinc-plated, ball-bearing plate.Autonomous Surface VehicleMethod: Deployment

Crane Deflection Analysis

Total Deflection In the CraneThe total deflection in the PVC crane is 0.00476 in.

Autonomous Surface VehicleBasic Prototype DrawingsPVC Crane

Design considerationsCantilever VS Support Strut

Cantilever beamWeight: 2.72lbDeflection: .26Design considerationsCantilever VS Support Strut

Cantilever beam with support Weight: 3.57lbDeflection: .137

Design considerations1 or 2 Diameter PVC? 1 inchWeight: 1.76lbDeflection: 2.34

Design considerationsCounter balance or no? WithWeight: 4.89lbDeflection: .136Overview of PATRAN AnalysisWeight (Pounds)Deflection (inch)Counter Weight4.890.136No Counter Weight3.570.137Support 3.570.137No Support2.720.26One Inch1.762.34Two Inch3.570.137Design ConsiderationsWhile the counter balance was not needed to avoid yield in the PVC, one was needed for weight of the ASV.The ball-bearing plate, proved to deflect without the counter balance. This caused slipping of the belt and cause deflection at the base of the arm.Electrical Engineers HelpingMatt HinsonClayton StaggJohn TooTwo stepper motors are connectedRangefinders have been addedXbee communication is in the development stageIntegration between Car/Crane/ASV on the wayScoop design prepared

Fabrication of Car

Autonomous Surface VehicleBasic Prototype DrawingsScoopPrototype Assembled Mechanism

Stamp

Initial Search Pattern

Car rotates 360Duel sensors recognize if object is in front of carCar drives straight to object

Failsafe Search Grid

Car drives straight until edgeCar follows edgeOn reaching a corner car follows a sweep pattern

ComplicationsDue to funding, the linear actuators for the scoop could not be ordered. The object to be retrieved will not be announced until after this semester The design and logic is there for next semester.The ASV is still under development for another team.The signal transmission could not be tested. An approximate weight was used to test stability of arm and reelConclusionBuilt a functioning prototype of a deployment/retrieval crane

Have plans in place for future teams to complete further modifications.Autonomous Surface VehicleBudget

Autonomous Surface VehicleGantt Chart

Questions?

Sheet1ItemItem Cost ($)QuantityTotal Cost ($)Item statusLink to itemNotesArmSub Total$324.00Fishing line (20 lb test, monofilament)$10.001$10.00needhttp://www.dickssportinggoods.com/product/index.jsp?productId=11430212&cp=4406646.4413993.4414792.4414806Fishing rod spool$50.001$50.00needhttp://www.dickssportinggoods.com/product/index.jsp?productId=11372585&ppp=36&cp=4406646.4413993.4414792.4414796.11467097motor to reel in fishing line10.0havePower Gear Box$139.001$139.00needhttp://www.robotshop.com/servocity-gdp785-bm-drive-pan-system-5-1.htmlPVC pipe 2in (10 ft)$7.011$7.01needhttp://www.homedepot.com/Plumbing-Pipes-Fittings-Valves-PVC-Pipe-Fittings-PVC-DWV-Pipe/h_d1/N-5yc1vZbuxu/R-100348475/h_d2/ProductDisplay?catalogId=10053&langId=-1&storeId=10051#.UFyaW41lR84PVC Elbows 2in$0.884$3.52needhttp://www.homedepot.com/h_d1/N-5yc1v/R-100343360/h_d2/ProductDisplay?catalogId=10053&langId=-1&keyword=pvc+2in+elbow&storeId=10051#.UFyaMY1lR84PVC Primer and Cement$7.471$7.47needhttp://www.homedepot.com/h_d1/N-5yc1v/R-100151579/h_d2/ProductDisplay?catalogId=10053&langId=-1&keyword=PVC+primer&storeId=10051#.UFyaxo1lR84Arduino Mega Board$59.001$59.00havehttps://www.sparkfun.com/products/11061Radio reciever (XBee)$40.001$40.00haveGears (to put on fishing reel and arm? Also will we need drive belts for these?)$2.002$4.00haveBall bearings (between platform and arm)$2.002$4.00needhttp://www.woodcraft.com/product/2001061/570/triangle-mfg-flat-square-lazy-susan-3-516-thick-capacity-200-lbs.aspxPlatform10.0needCARSub Total$656.40Battery$17.003$51.00havehttps://www.sparkfun.com/products/8483Breadboard$4.002$8.00havehttps://www.sparkfun.com/products/8801Battery Charger$20.001$20.00havehttps://www.sparkfun.com/products/8293H Bridge$2.354$9.40havehttps://www.sparkfun.com/products/315Arduino Mega Board$59.002$118.00havehttps://www.sparkfun.com/products/11061Radio reciever (XBee)$40.001$40.00haveTires$15.002$30.00havehttps://www.sparkfun.com/products/10555Ultrasonic Sensor$50.004$200.00needhttps://www.sparkfun.com/products/9495Step Motor$30.004$120.00havehttps://www.sparkfun.com/products/10848Infrared Sensor$15.004$60.00needhttps://www.sparkfun.com/products/8959ScoopSub Total$220.00Linear Actuator$90.002$180.00needhttp://store.firgelli.com/Firgelli_L12_S_p/l12-s.htmToy cars to harvest scoop from$20.002$40.00needhttp://www.amazon.com/Bruder-CATERPILLAR-Skid-Steer-Loader/dp/B000FZDIB8/ref=pd_sim_t_23D Printing spool x2$300.002$600.00needMiscellaneous$300.00needTotalsTotal For ProjectTotal NeededFinal Cost$2,100.40$1,601.00

Sheet2ItemAprox costCost of the arm$324.00Cost of the car$656.40Cost of the scoop$220.00Miscellaneous$900.00Total$2,100.40

Sheet3