1. OLD DOMINION ASV TEAM Capt. Chris Shertzer Capt. Chris Shertzer Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter

2. BACKGROUND Increased use of autonomous robotics Increased use of autonomous robotics Safety Safety Advances in technology Advances in technology Increased support from interested parties Increased support from interested parties Military Applications Military Applications Consumer Applications Consumer Applications

3. 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 OpenCV buoy tracking OpenCV buoy tracking GPS tracking and navigation GPS tracking and navigation Challenge stations Challenge stations Tennis ball retrieval Tennis ball retrieval Shoot through the hoop Shoot through the hoop

4. CAR CHALLENGE The boat will enter routine triggered by GPS location The boat will enter routine triggered by GPS location The boat will dock at the ramp section of the dock The boat will dock at the ramp section of the dock The car will begin its tasks The car will begin its tasks Leave the boat via on-board ramp Leave the boat via on-board ramp Acquire the ball Acquire the ball Return to boat with ball Return to boat with ball The boat will exit challenge station The boat will exit challenge station Challenge Station layout

5. THE WORK BREAKDOWN Current Car Current Car Needs improvements Needs improvements Tires do not have an adequate tread Tires do not have an adequate tread Ramp did not retract due to improper gear ratio and power source Ramp did not retract due to improper gear ratio and power source Sensor’s were adequate but could be improved Sensor’s were adequate but could be improved New Car New Car AHP analysis AHP analysis Schematic drafting Schematic drafting Hardware selection Hardware selection Drafting Drafting Budgeting Budgeting Early iteration of last years car

6. VIDEO OF OLD CAR http://www.youtube.com/watch?v=WyIBuxCpkFE&feature=youtu.be

7. TURRET CHALLENGE The boat will signal the turret when GPS location is reached When the turret is enabled the boat will employ a freeze technique. The turret will begin its task Search for 1 or all of 3 rings Locate a target Shoot a NERF dart through a target The turret will exit the challenge station at the 2 minute mark or once all darts have been fired. Challenge Station layout

8. TURRET DESIGN Design options Design options Hardware selection Hardware selection Two high torque servos to provide 2 degrees of freedom Two high torque servos to provide 2 degrees of freedom Housing for thermal-IR and Camera Housing for thermal-IR and Camera 3 barrels powered by CO2 3 barrels powered by CO2 Housing for electrical components Housing for electrical components 3D Rhino model (McNeel North America, Seattle, WA)

9. HULL DESIGN Analysis of current hull Analysis of current hull Improvements Improvements Lighter Lighter Hydrodynamics increased Hydrodynamics increased Structural integrity Structural integrity Modularity considerations Modularity considerations 3D Inventor model (Autodesk, San Rafael, CA)

10. NEW HULL DEVELOPMENT Aluminum pontoon system Aluminum pontoon system Angle bar deck structure Angle bar deck structure 3D Rhino model (McNeel North America, Seattle, WA)

11. CAR BUDGET CAR BUDGET ItemQuantity Price IndividualTotal Car Electronics Arduino Mega25601$50.00 Protoboard1$10.00 Sensor shield1$10.00 battery for motors2$24.00$48.00 Battery for board2$20.00$40.00 Mega Prototype boards2$15.00$30.00 header pins1$3.00 wires1$5.00 stepper motor driver2$50.00$100.00 Sensors Ultrasonic sensors6$8.33$49.98 Accelerometer1$30.00 IR sensors2$15.00$30.00 sensor jumper wire2$1.50$3.00 Propolsion Systems Body (Large dry box)1$16.00 A 6M 7-50PLV roller chain/.5" Pitch, Polyvinylidene GS Roller Chain (per ft)5$11.00$55.00 Valve stem seal set1$17.00 PVC pipe1$10.00 Means to extend the shaft1$15.00 3 stepper motors3$55.00$165.00 Retrieval Systems Shaft1$30.00 Aluminum sheet (for arm fabrication)1$25.00 Misc Surge Protector1$25.00 Box Velcro Strips1$12.00 Sub-Total $778.98

12. TURRET BUDGET ItemQuantity Price IndividualTotal Turret Electronics Arduino Mega25601$50.00 Wires1$5.00 Battery for board, servos and tracking1$60.00 High torque servo1$130.00 Barrel servo1$40.00 Thermal-IR1$4,000.00 Two-way servo assisted solenoid valve1$150.00 Material Ultra high weight molecular polyethylene 1/8"x24"x48"1$40.00 Copper tubing1$5.00 Hardware CO2 16g lezyne cartridges1$15.00 Gears and Bearing1$30.00 Foam darts1$10.00 Machining CNC machining1$95.00 welding per hour/$251$125.00 Sub-Total$4,755.00

13. HULL PRESENTATION ItemQuantity Price IndividualTotal Hull Hardware Aluminum Pontoons1$800 Aluminum Angle Iron1$200 Coosa Nautical Composite1$200 Snap Grid System1$50 Seabotix Thrusters2$750$1,500 Waterproofing Equipment1$200 7$25$175 Sub-total$2,950.00

14. BUDGET OVERVIEW Car $ 778.98 Turret $ 4,755.00 Labor $ 2950.00 Labor $ 33,750.00 Total $ 39,283.98

15. COST ANALYSIS

16. GANTT CHART

17. CONCLUSION The Competition The Competition July 8 th -14 th July 8 th -14 th Past competition Past competition Current Hull is lacking in several Current Hull is lacking in several fundamental areas The car used in last years competition does not complete the task The car used in last years competition does not complete the task This years competition This years competition A new hull and deck has been designed to replace the current one A new hull and deck has been designed to replace the current one Development of a new car has begun and the old car has been slated for optimization Development of a new car has begun and the old car has been slated for optimization Research on turret completed and development has begun Research on turret completed and development has begun

18. QUESTIONS?

19. REFERENCES http://www.auvsifoundation.org http://www.auvsifoundation.org http://www.auvsifoundation.org http://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery- drones/ http://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery- drones/ http://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery- drones/ http://www.vg247.com/2013/12/02/amazon-readies-unmanned-prime-air-delivery- drones/ http://www.irobot.com/us/learn/defense/firstlook.aspx http://www.irobot.com/us/learn/defense/firstlook.aspx http://www.irobot.com/us/learn/defense/firstlook.aspx http://www.odu.edu/eng http://www.odu.edu/eng http://www.odu.edu/eng