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 • • • • • • • • • • 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 • • 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?