Autonomous Surface Vehicle MyAsia Reid 1, Linda Kpormone Buame 2, Amadi Sefah-Twerefour 2, Prosper...
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Transcript of Autonomous Surface Vehicle MyAsia Reid 1, Linda Kpormone Buame 2, Amadi Sefah-Twerefour 2, Prosper...
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Autonomous Surface Vehicle
MyAsia Reid1, Linda Kpormone Buame2, Amadi Sefah-Twerefour2, Prosper Yaw Adiku2, George Owusu Fordah2, Center for Remote Sensing of Ice
Sheets (CReSIS), University of Kansas, Lawrence, KS 66045 1Elizabeth City State University, Elizabeth City, N C 27909
2Department of Oceanography & Fisheries, University of Ghana, Legon
Mentors: Dr. Eric Akers, Ben Panzer, Kyle Byers and Jerome Mitchell
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OUTLINE•Introduction
•Methodology
•Results
•Conclusion
•References
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IntroductionThe response of organisms to changes in water quality parameters enhances our understanding of aquatic environment (Abowei, 2009).
MODIS) and SeaWIFs, are limited by assumption of uniformity in pixels (Yuan et al, 2005). Designs limited to open oceans
•Insufficient sampling,
•Inaccuracy of geophysical corrections.
Sampling can be augmented by using more than one mission (Bouffard et al, 2008)
http://www.alticore.eu/
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Dunbabin et al, 2009
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Design considerations
• Drag depends on size, shape & speed: force due to drag
• (F)= 0.5rhoV²CdA, lowest Cd is the best
• F is proportional to speed, >speed needs more thrust and a greater drain on power.
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Weight
Buoyant force and Lift
ThrustDrag
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Methodology
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Design components• Microcontroller (Atmega 328)• Motor controllers (10A brushed)• Breadboard • SD Card Reader• GPS
-shield (09487)
-module (EM 406)• Temperature Sensors (LM335a)• Batteries(12V/8Ah , 12V/18Ah)
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DesignASV flowchart….
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Primary Navigation systems
GPS and Gyro
Sensor payload
Temperature sensor
M1
M2
Microcontroller
uMMC data
storage Module
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Final design of ASV
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On landIn the workshop
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Arduino
• What is an Arduino?– is a single-board
microcontroller and a software suite for programming it. The software consists of a standard programming language and the boot loader that runs on the board.
– Microcontroller: The hardware consists of a simple open hardware design for the controller with an Atmel AVR processor and on-board I/O support.
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Temperature sensor
• Analog temperature sensor
• Works like a Zener diode
• Calibrated at 25°C at and 5V input voltage and a 2.982V output
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LM335A
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GPS & Bearing….• Satellite based navigation
system.• Based on the network of 24
satellites.• GPS intended for military
use, but available for civilian use in the 1980’s.
• Works off satellite, tracking positions of locations.
• For direction, tracking and navigation.
Navigation and Control (GPS)
www.rei.com
www.navigadget.com
www.vialite.co.ukwww.diytrade.com
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Credit: http://forums.garmin.com
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GPS-09487
20 Channel EM-406A SiRF III Receiver with Antenna
Connector Vertical SMD for EM408
Coin Cell Holder - 12mm
Credit: http://www.sparkfun.com/
GPS Shield
EM 406
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Bearing calculations..• Bearing calculations done in radians
Bearing (x)
=atan2(sin(lon2-lon1)*cos(lat2),cos(lat1)*sin(lat2))sin(lat1)*cos(lat2)*cos(lon2-
lon1));-
degrees=x* 180/M_PI; (M_PI is the constant from math.h set for value of PI)
To ensure that it remains in proper range
Degrees=degrees + 360°; if degrees is less than 0
http://drifters.doe.gov/track-a-yoto/track-a-drifter.html
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Distance calculations• Haversine distance calculations
dlat= lat2-lat1
dlon=lon2-lon1
a=pow(sin(dlat/2),2)+cos(lat1)*pow(sin(dlon/2),2);
c=2*atan2(sqrt(a),sqrt(1-a));
Distance= r*c;// radius of the earth in meters
r = 6378140m
Credit: http://en.wikipedia.org/wiki/Haversine_formula
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Results
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ASV navigating on Clinton Lake
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Conclusion
• An ASV that can navigate specific way point has been built.
• Future work would focus on increasing sensor capacity by putting on board more sensors as well as buoy mode and possibly obstacle avoidance.
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AcknowledgementsThanks to:
• Dr. Eric Akers
• Dr. Claude Laird
• Dennis Sundermeyer
• Leon Searl
• Ben Panzer
• Kyle Byers
• Jerome Mitchell
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ReferencesAbowei, J.F.N (2010) Salinity, Dissolved Oxygen, pH and Surface Water Temperature Conditions in Nkoro River, Niger Delta, Nigeria, Advance Journal of Food Science and Technology 2(1): 36-40, 2010
Dunbabin, M., Alistair G. and J. Udy (2009) An Autonomous Surface Vehicle for Water Quality Monitoring Autonomous Systems Laboratory, CSIRO ICT Centre, P.O. Box 883, Kenmore, QLD 4069, Australia.Get a bearing. Accessed from the world wide web on 14th June,2010 at http://geaology.isu.edu/geostac/Fieldexercie/topomaps/bearing.html
Great circle.Accessed from the world wide web on 18th July 2010 at www.answers.com/topic/great_circle
Haversine formula. Accessed from the world wide web on 8th July,2010 at www.absoluteastronomy.com/topics/Haversine_formula
Haversine formula.Accessed from the world wide web on 14th June 2010 at http://en.wikipedia.org/wiki/Haversine_formula
J. Bouffard,1 S. Vignudelli,2 P. Cipollini,3 and Y. Menard (2008) Exploiting the potential of an improved multimission altimetric data set over the coastal ocean. Geophysical research letters, vol. 35, l10601, 2008
Latitude and Longitude general information. Accessed from the world wide web on 11th June 2010 at www.csgnetwork.com/latloninfo.html
Mathematics<math.h>.Accessed from the world wide web on 25th June,2010 at http://www.nongnu.org/avr-libc/user-manual/group_avr_math.html
Rogue robotic [online] www.roguerobotics.com
What is latitude and longitude. Accessed from the world wide web on 18th July 2010 at www.rain.org/camp.internet/gis_latlong
What is programming? Accessed from the world wide web on 18th July 2010 at http://mysite.du.edu/~jcalert/math/program.html
Yuan, J., Dagg, M. J., Del Castillo C. E (2005) In-pixel variations of chl a fluorescence in the Northern Gulf of Mexico and their implications for calibrating remotely sensed chl a and other products. Department of Marine Science, University of Southern Mississippi, USA
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