Old Dominion ASV team - Old Dominion University

Report
OLD DOMINION
ASV TEAM
Chris Shertzer, Co-Capt.
Ben McKinley, Co-Capt.
Adam Stofko
Richard Blanchette
Brittany Garman
Ganesh Balasubramanian
Zach Carpenter
THE ROBOBOAT COMPETITION
• Competition Conducted by
AUVSI
• Association for unmanned
vehicle systems international
• Design autonomous boat
• Visual processing for
Navigation
• Competition Scoring based on
Static Judging and Competition
Challenges
SCORING BREAKDOWN
Hull and Deck Design
Design of Deck
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1 ¼” x 1¼” x 1/8” 6061-T6 aluminum angle bar
20”X40” rectangular frame
Modular challenge systems
¼” holes ever inch along the longitudinal rains
will allow for the mission systems to be located in
to provide for the desired longitudinal center for
gravity (LCG)
1/8” 6061-T6 pontoon supports will allow for easy
attachment of pontoons and motorized wheels for
ground testing.
1 ¼” SCH 40 aluminum piping and milled 6061T6 aluminum for motor mount.
Design of Pontoons
Length over all (LOA) 56”
Beam of 8” per pontoon
Separation length ratio (S/L) or .42
1/8” 6061-T6 aluminum construction.
Current Hull & Deck Design
Hydrostatic and Holtrop Analysis from ORCA 3D and GHS
Hydrostatics and Holtrop
Analysis
• Maximum Displacement of
198 lbs
• Design draft 3.76 in 80 lbs
• Total resistance of 9.6 lbs
at maximum speed of 5 Kts
MINN KOTA PROPELLERS
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• The Minn Kota propellers were tested using the
old ASV hull
• Pitch: 3.49 in or 88.78 mm
• High Aspect ratio
• Thrust: 133.45 N
• 2 blades
• To reduce the dip experienced in the test trial,
smaller propellers were designed
• The number of propeller blades was increased
from 2 to 3 to add stability
OPENPROP PROPELLER
• OpenProp Input Variables:
hub diameter: .08 m
number of blades: 3
rotation speed: 1710 RPM
rotor diameter: .228 m
required thrust: 133.45 N
ship speed: 5 m/s
# radial panels:20
# chordwise panels:20
fluid density: 1000 kg/m3
• OpenProp design simulation is
exported to SolidWorks
• Propeller will be printed in plastic by
a 3D printer
Kort Nozzle Design
Design of nozzle
•4.72inch inner radius
•3.75inch nozzle length
•40% area increase from blade tip to nozzle
opening
•Notched for clamping around the torpedo
cap.
•3D printed using ABS
•Weighs 2.38lbs
Current Kort nozzle design
Minn Kota Torpedo
CFD & Testing
NACA 10 nozzle flow data
Shear Stress
Testing
•Bare nozzle tested using CFD
•Ideal speed is 2.53 m/s
•Digital Hanging scale
Velocity Profile
AUTOMATED DOCKING CHALLENGE
• Shape recognition and buoy
color detection.
• OpenCV library for shape
location from real-time image.
• Boat must dock temporarily to
complete challenge.
FILTERING AND PROCESSING
• Frame taken from
webcam
• Greyscale conversion
• Applying Color
Threshold
• Canny interpretation
• Masking
LOGIC OF SHAPE DETECTION
• Calculate approximate
Polygons
• Count Vertices
• Calculate angle at each
vertex
• Calculate Ratio of area’s
• Constrain object with
rectangle
Vtc=
3
GANTT CHART
Pontoons and Deck
Materials
Labor
Software
Sub Total
Sub Total
Sub Total
Total
$324
$3,250
$195
$3,769
Sub Total
Sub Total
Sub Total
Total
$626
$1,926
$86
$2,638
Sub Total
Sub Total
Sub Total
Total
$279
$1,550
$86
$1,915
Sub Total
Sub Total
Sub Total
Total
$450
$1,625
$86
$2,161
Kort Nozzle
Materials
Labor
Software
Propeller
Materials
Labor
Software
Object Tracking
Materials
Labor
Software
BUDGET
TOTAL
$10,483
QUESTIONS?

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