ASV Senior Design ProjectMidterm Report

Fall 2012

Team: Leader: Daniel Becker Treasurer: Andrew Hinojosa Manufacturing: Samantha Palmer Design/Assembly: Bradley Shallcross

• Two servos are connected• Rangefinders are being added• Xbee communication is in the development

stage• Integration between Car/Crane/ASV on the way

Fabrication of Car

• Logic for all the systems is still in the development phase.

– Logic paths are ready for programming.

– Need to learn the syntax of arduino to complete coding.

Logic of the Car/Crane

Initial Search Pattern

Robot

Rotation 360°

Range finder detects puck and car heads straight for it

• Car rotates 360°

• Duel sensors recognize if

object is in front of car

• Car drives straight to object

Failsafe Search Grid

• Car drives straight until edge

• Car follows edge

• On reaching a corner car

follows a sweep pattern

Current Status on Retrieval Mechanism

• Due to no funding the work on this area has been postponed

• The work already done will be a good basis for future semesters to work with.

Crane Progress

• Most of the structural material has arrived.

• Still waiting for the motors and belts/gears.

Displacement Analysis

• A CAD analysis has been conducted.

• Each design has benefits and disadvantages.

• We need to have the least weight possible while keeping rigidity.

“Cantaleiver Bar” or Supported?

Weight: 2.72lbDeflection: .26”

Weight: 3.57lbDeflection: .137”

1” or 2” Diameter?

Weight: 3.57lbDeflection: .137”

Weight: 1.76lbDeflection: 2.34”

Counter balance or no?

Weight: 3.57lbDeflection: .137”

Weight: 4.89lbDeflection: .136”

• Normal Force

• Bending moment

• Inertial Moment(Hallow pipe)

• Shear Stress

Crane Stress Analysis

• Normal Deflection

• Angular Deflection θ = L T / Ip G

= L T / (π D4/32) G

Crane Deflection Analysis

Autonomous Surface VehicleGantt Chart

Autonomous Surface VehicleWebsite

• For more information on the current project, visit:

http://dasp.mem.odu.edu:8080/~asv_fa12/index.htm

Questions?