PropaGator Oral Report 3 Andrew Wegener IMDL 2012.
-
Upload
raymond-freeman -
Category
Documents
-
view
218 -
download
0
Transcript of PropaGator Oral Report 3 Andrew Wegener IMDL 2012.
![Page 1: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/1.jpg)
PropaGator
Oral Report 3Andrew Wegener
IMDL 2012
![Page 2: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/2.jpg)
Contents
•Objective•Mechanical Design•Electrical Design•Software Design•Future Applications•Questions
![Page 3: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/3.jpg)
Objective• PropaGator is an
intelligent autonomous surface vehicle (ASV) designed to clean up the pollution in our oceans.
• PropaGator navigates to GPS waypoints that are known to have lots of pollution between them and nets are used to remove the pollutants from the ocean.
![Page 4: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/4.jpg)
Mechanical Design▫Custom Fiberglass
Body Trimaran Design
▫Propelled by hacked bilge pump coupled to propeller
▫Rudder attached to servo for steering
▫Pontoons for stabilization
![Page 5: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/5.jpg)
Electrical Design
▫Custom Control Board
▫Xbee for wireless communication
▫LCD feedback▫Sensors:
Micromag 3 Maxbotix Sonars EM-408 GPS
![Page 6: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/6.jpg)
Software Design▫GPS Waypoint Navigation
Parse GPS Data(NMEA standard) Calculate desired heading
▫PD controller Sets rudder position based on
magnetometer heading and desired heading
▫Obstacle Avoidance Uses sonar to detect if object is
near and sets actuator values acordingly to avoid the object.
![Page 7: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/7.jpg)
Future Applications
• Add water quality sensors(temperature and PH)
• Add a leak detection sensor • Add another water/air based robot to aid
PropaGator• Modify/redesign PropaGator to use
differential steering, brushless motors, and a monohull design
![Page 8: PropaGator Oral Report 3 Andrew Wegener IMDL 2012.](https://reader036.fdocuments.in/reader036/viewer/2022062421/56649f565503460f94c7aa46/html5/thumbnails/8.jpg)
Questions