2. Jonathan Wong Chong

8. 14.8V Polymer Li-Ion Batteries o Only powering thrusters 19v 4Ah Li-Ion External Laptop Battery o Powers main CPU unit o Lasts roughly 2-3 hours o Essentially powers all USB devices as well 12v Li-Ion 18650 Box Battery o Regulated to power actuation system

9. Jonathan Wong Chong

12. Matthew Neafie

18. Images from Robert Castle

19. Matthew Neafie

20. Gate Parking Torpedo Matthew Neafie

21. Gate Parking Torpedo Removed Matthew Neafie

24. The Path Planning algorithm can be viewed as a greedy algorithm because it always chooses the closest vertex in V - S to add to S. //insert all vertices into priority queue //Extract-min (first extraction is simply s) //for each neighbor //RELAX(u,v,w) //update label of neighbor, //decrease-key v.d in priority queue Fibonacci Heap – O(|V|log|V| + E) time Uses map from SLAM, Goal from Task Manager, calls decision-maker

25. Matthew Neafie

26. Weighted Total Output Matthew Neafie

28. Julius Cobb

38. Daniel Cifredo

42. AUV Estimated Budget A. Personnel NameJob DescriptionBase/hrHours/wksTotal Jon Wong ChongTeam Lead Lead Electrical Systems$38.0015/2514250 Julius Cobb IIITest Engineer$35.0015/2513125 Matthew NeafieLead Program Designer$35.0015/2513125 Daniel CifredoSecretary Treasurer$30.0015/2511250 Subtotal of Personnel 51750 B. Fringe Benefits= 15% of A7762.5 C. Total Personnel Expenses=A+B59512.5 D. Parts and Materials NameDescriptionQuantity(#of units) Price including estimated taxes and shippingCosts HydrophonesPinger Detection4$3001,200.00 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15$16 PVC - 10 ftBuild obstacle course8$5.50$47 PVC connector - elbowBuild obstacle course2$2.50$5 PVC connector - CapBuild obstacle course4$2.50$11 Orange Duct Tape 15 ydBuild obstacle course4$5$21 PVC glueBuild obstacle course3$5$16 Subtotal of Parts and Materials 1,316.63 Total Direct Costs 60,829.13 Overhead Costs=45% of Direct Costs27373.1085 E. Total Costs 88,202.24 F. Travel Costs 1600 G. Shipping Costs 900 H. Total Project Costs 90,702.24 Budget Exercise Daniel Cifredo

43. HydrophonesPinger Detection4$3001,200.00 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15$16 PVC - 10 ftBuild obstacle course8$5.50$47 PVC connector - elbowBuild obstacle course2$2.50$5 PVC connector - CapBuild obstacle course4$2.50$11 Orange Duct Tape 15 ydBuild obstacle course4$5$21 PVC glueBuild obstacle course3$5$16 Subtotal of Parts and Materials 1,316.63 Budget Exercise Daniel Cifredo

44. RiskArduino mega board malfunction ProbabilityLow ConsequenceCatastrophic Strategy1.Ensure proper hookups 2.Circuit analysis to keep current under max rating 3.Save all programs in safe locations RiskZotac computer malfunction or damaged ProbabilityLow ConsequenceCatastrophic Strategy1.Ensure all cables properly connected 2.Ensure watertight seal maintained 3.Check battery charge 4.Save all programs in safe locations RiskThrusters draw maximum current ProbabilityVery Low ConsequenceSevere Strategy1.Write code to prevent max draw 2.Circuit Analysis to determine max current draw allowed Risk Assessment - Technical Daniel Cifredo

45. RiskComputer Vision Fails during use ProbabilityModerate ConsequenceCatastrophic Strategy1.Ensure camera sensors are waterproofed 2.Calibrate camera sensors when change in environment occurs 3.Use OpenCV library RiskCamera code incorrect ProbabilityModerate ConsequenceCatastrophic Strategy1.Develop pseudo-code for camera data 2.Develop testing methods for camera RiskData Storage Process does not work ProbabilityModerate ConsequenceHigh Strategy1.Develop understanding of SQL 2.Check to ensure enough memory is available to store data Risk Assessment - Technical Daniel Cifredo

46. RiskPath Planning process fails ProbabilityModerate ConsequenceCatastrophic Strategy1.Develop understanding of SQL 2.Develop understanding of OpenCV 3.Verify algorithm for planning path is correct RiskDecision Making process fails ProbabilityModerate ConsequenceCatastrophic Strategy1.Develop understanding of SQL 2.Develop understanding of OpenCV 3.Verify algorithm for determining next step is correct 4.Verify tasks are implemented correctly Risk Assessment - Technical Daniel Cifredo

47. Jonathan Wong Chong