1. OLD DOMINION ASV TEAM Chris Shertzer, Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter

2. THE ROBOBOAT COMPETITION Competition Conducted by AUVSI Competition Conducted by AUVSI Association for unmanned vehicle systems international Association for unmanned vehicle systems international Design autonomous boat Design autonomous boat Visual processing for Navigation Visual processing for Navigation Competition Scoring based on Static Judging and Competition Challenges Competition Scoring based on Static Judging and Competition Challenges

3. SCORING BREAKDOWN

4. 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 6061- T6 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

5. 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

6. 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

7. 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/m 3 OpenProp design simulation is exported to SolidWorks Propeller will be printed in plastic by a 3D printer

8. 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

9. CFD & Testing NACA 10 nozzle flow data Shear Stress Velocity Profile Testing Bare nozzle tested using CFD Ideal speed is 2.53 m/s Digital Hanging scale

10. AUTOMATED DOCKING CHALLENGE Shape recognition and buoy color detection. Shape recognition and buoy color detection. OpenCV library for shape location from real-time image. OpenCV library for shape location from real-time image. Boat must dock temporarily to complete challenge. Boat must dock temporarily to complete challenge.

11. FILTERING AND PROCESSING Frame taken from webcam Frame taken from webcam Greyscale conversion Greyscale conversion Applying Color Threshold Applying Color Threshold Canny interpretation Canny interpretation Masking Masking

12. LOGIC OF SHAPE DETECTION Calculate approximate Polygons Calculate approximate Polygons Count Vertices Count Vertices Calculate angle at each vertex Calculate angle at each vertex Calculate Ratio of area’s Calculate Ratio of area’s Constrain object with rectangle Constrain object with rectangle Vtc= 3

13. GANTT CHART

14. BUDGET TOTAL $10,483 Pontoons and Deck Materials Sub Total$324 Labor Sub Total$3,250 Software Sub Total$195 Total$3,769 Kort Nozzle Materials Sub Total$626 Labor Sub Total$1,926 Software Sub Total$86 Total$2,638 Propeller Materials Sub Total$279 Labor Sub Total$1,550 Software Sub Total$86 Total$1,915 Object Tracking Materials Sub Total$450 Labor Sub Total$1,625 Software Sub Total$86 Total$2,161

15. QUESTIONS?