Design and Development of an Autonomous Surface Watercraft Sponsor: Dr. D. Dunlap Advisor: Dr. J. Clark Instructors: Dr. N. Gupta, Dr. C. Shih Team 18: Kyle Ladyko, Donald Gahres, Samuel Nauditt, Teresa Patterson Presenters: Donald Gahres, Samuel Nauditt, Teresa Patterson
Why? Annual Roboboat competition hosted by AUVSI. Autonomous navigation through a lake course. Boats mimic tasks that are being studied and implemented by port and coastal security forces. NSWC-PCD minehunting. Presenter: Donald Gahres Fig. 1. RoboBoat Competition. 2
Competition Tasks Weight/Thrust Measurement Basic Navigation Obstacle Avoidance Automated Docking Interoperability Acoustic Beacon/Pinger Location Return to Dock 550 550 Presenter: Donald Gahres Fig. 2. 2016 RoboBoat lake course. 3
Goals and Objectives Need Statement: Team 18 needs to create an autonomous boat capable of traversing the RoboBoat competition course and abides by the rules set by AUVSI and Robonation. Goal Statement: Create a lightweight autonomous water vehicle capable of maneuvering a series of gates via colored buoys, while remaining versatile for later subsystems to be added. Presenter: Donald Gahres 4
Competition Constraints Autonomous Positively buoyant Communication Deployable Kill Switches GoPro Payload Shroud Protection Remote-controllable Safe Size Surface Craft Towable Waterproof Weight No Interference Presenter: Donald Gahres 5
Prototype Goals and Objectives Objectives: Design vehicle Purchase or manufacture all components Develop prototypes for testing Integrate mechatronics of vehicle Test mechatronic systems of vehicle Test manual control of vehicle Test autonomy of vehicle Compete in the 2017 RoboBoat Competition Ensure safety at all times Goals: Inexpensive Versatile Lightweight Maneuverable Safe Presenter: Donald Gahres 6
Project Planning: HOQ EC s and CR s determined from 2016 Rules. Weight, thrust, and hull are determined most important due to the massive point weight they carry. Customer Requirements Customer Importance Table 1. HOQ to determine what 3 factors are most important. Dimensions Buoyancy Weight Material Thrust Sensors Frame/Hull Cost 5 5 5 5 5 5 5 5 5 Size 4 5 3 5 5 4 Durability 2 5 3 3 Maneuverability 5 3 2 5 5 5 5 Safety 5 4 5 3 5 Ʃ (CI x EC) Relative Weight Ranking Engineering Characteristics Table 2. Weight and dimension restrictions. Electronics Housing 60 47 70 55 95 50 87 56 11.5% 9.0% 13.5% 10.6% 18.3% 9.6% 16.7% 10.8% 4 8 3 6 1 7 2 5 Presenter: Teresa Patterson 7
Project Planning: Gantt Chart Presenter: Teresa Patterson 8
Concepts: Multihulls and Monohulls Multihull: Catamaran or Trimaran o Light and stable. o CG calculations easier. o Plenty of space for mounting electronics. o Popular for USV s. Monohull o Requires support ribs and keel. o Less stable. o Also used for USV s, but usually for large scale designs. Fig. 3. Subsea-Tech catamaran drone, CAT- Surveyor. Presenter: Teresa Patterson Fig. 4. Common Unmanned Surface Vehicle (CUSV) by Textron. 9
Concepts: Placement of Electronics Catamaran o Mount between pontoons. o Sink in pontoons. Monohull o Sink in hull. Fig. 5. Clearpath Robotics USV named Heron. Presenter: Teresa Patterson Fig. 6. Offshore oil and gas USV named C-Worker from ASV. 10
Concepts: Propulsion Fixed thrusters with variable speed control. o Greater thrust on one side will cause turning. Thrusters that rotate. o Rotating thrusters would require some motor or actuator. Fig. 7. Bluerobotics T200 thruster Fig. 8. Seabotix Thruster Presenter: Teresa Patterson 11
Morphological Chart Table 3. Morphological chart output for Concept 1. Concept 1 Subfunctions Option 1 Option 2 Option 3 Hull Design Monohull Catamaran Trimaran Hull Material Plastic Fiberglass Wood Directional Control Rotating Thrusters Differential Thrusters Electronics Placement All in central location In hull Dispersed Image Processing Color Shape Both Table 4. Morphological chart output for Concept 2. Concept 2 Subfunctions Option 1 Option 2 Option 3 Hull Design Monohull Catamaran Trimaran Hull Material Plastic Fiberglass Wood Directional Control Rotating Thrusters Differential Thrusters Electronics Placement All in central location In hull Dispersed Presenter: Samuel Nauditt Image Processing Color Shape Both 12
Pugh Matrix and Concept Selection Table 5. Pugh Matrix comparing Concepts 1 and 2. Pugh Matrix Criteria Base Concept 1 Concept 2 Weight 0 1 0 Stability 0 1 0 Versatility 0 1 0 Maneuverability 0 0 1 Ease of build 0 1 0 Size 0 0 1 Total 0 4 2 Presenter: Samuel Nauditt 13
Chosen Concept Catamaran hull is more stable and easier to build. Fixed variable speed thrusters. Program finds midpoint of buoys and uses feedback loop to line up to center. Electronics placed for easy access. Allows for multiple systems to be added. Has been successful in past for multiple teams. Presenter: Samuel Nauditt 14
Challenges and Risks There may be an addition of a flying drone task for the 2017 competition. Sensors and sonar underwater (interoperability challenge) may be difficult. Tasks may change based on upcoming 2017 rules. Presenter: Samuel Nauditt 15
Conclusion Goal Statement: Create an lightweight autonomous water vehicle capable of maneuvering a series of gates via colored buoys, while remaining versatile for later subsystems to be added. Initially focusing on navigation and autonomous propulsion. Pending release of 2017 rules, will be revising goal statement accordingly. Presenter: Samuel Nauditt 16
References https://www.clearpathrobotics.com/heron-bathymetry-unmanned-surface-vessel/ http://www.oceanologyinternational.com/en/exhibitors/1557161/subsea-tech/products/929715/usv-cat-surveyor http://www.textronsystems.com/what-we-do/unmanned-systems/cusv https://news.usni.org/2016/01/27/textrons-cusv-in-production-as-minesweeping-vehicle-may-take-on-minehunting-soon https://www.shephardmedia.com/news/uv-online/asv-introduces-new-offshore-oil-gas-usv/ http://www.robonation.org/competition/roboboat Presenter: Samuel Nauditt 17
Questions? Presenter: Samuel Nauditt 18