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RAMBOAT

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julian colonia

on 12 May 2014

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Transcript of RAMBOAT

Autonomous Surface Vehicle (ASV)
Goals:
New Power Supply: Aristides Taveras
Sensors: Nicholas DeAscentis
Mobile Application: Julian Colonia
Mission Autonomy: Zachary Lorusso
Control & Automation
GPS Daemon Design
Mission Design
Controller Design
Power Management

Mission Autonomy
Current Accomplishments
Future Goals
New Mission Design
Automated System Refinement
Simulated & Field Testing
Overall Concept
System Block Diagram
GPS Design
RamBoat
Ramboat Controller
A University of Rhode Island Capstone Project
Technical Director: Dr. Stephen Licht
Health Monitoring System
System will provide:
Battery Voltage
Total Current Draw
Individual Motor Current Draw
Temperature of Electronic Housing
GPS Location / Compass Heading
Ongoing LCM processes
Current Objective
Block Diagram
Microprocessor
Processor
Analog In/Out
Digital IO/PWM
EEPROM
SRAM
Flash
Model
Uno
Mega2560
ATmega328
6/0
14/6
1KB
2KB
32KB
ATmega2560
16/0
54/14
4KB
8KB
257KB
Arduino Code
int analogPin1 = 1;
int analogPin2 = 2;
int analogPin3 = 3;
int analogPin4 = 4;
int analogPin5 = 5;

int val1 = 0; // variables to store the value read
int val2 = 0;
int val3 = 0;
int vol4 = 0;
int vol5 = 0;

void setup()
{
Serial.begin(9600); // setup serial
}

void loop()
{
val1 = analogRead(analogPin1); // read the input pin
Serial.println(val1);
val2 = analogRead(analogPin2); // read the input pin
Serial.println(val2);
val3 = analogRead(analogPin3); // read the input pin
Serial.println(val3);
val4 = analogRead(analogPin4); // read the input pin
Serial.println(val4);
val5 = analogRead(analogPin5); // read the input pin
Serial.println(val5);
}
For analog pins:
Objective
Supply
Challenges
Capacity/Time
Protect electronics
Specific voltage for components
System
Power Regulation
Boards
Battery Merger
Converter (Vicor)
Voltage regulators
Power Rails
Fuses
Sensors
Arduino
Intense PC
Mobile
raw data
LCM
bluetooth
Special Thanks to :
Schottky Diodes
Dr. Stephen Licht, our Technical Director

Dr. Harish Sunak, our Capstone Professor

And the RamBoat Team Captains...
Block Diagram
Overall Concept
System Block Diagram
3 Degrees of Freedom
Greater Maneuverability
More Complex Missions
Control Architecture
No more PID switching
Behaviors control direction
Easy to expand!
Mobile App
Objective
Design
Bluetooth Connectivity
Sensors
Current sensors- Hall effect
Temperature sensors- Centigrade output
Voltage divider- High resistance values
Major concern
: avoid drawing too much current from the battery and take away from the total current to motors and electronics
Combination of batteries
History of The RamBoat
International RoboBoat Competition: July 8-13, 2014
First held in 2008
Held annually, Virginia Beach, Virginia
13 different universities participated last year



Challenges Include:
Littoral area navigation
Channel following
Autonomous docking




URI RamBoat team consists of 7 members from different disciplines.
In 2010 URI won first place.
Heading
Position
Speed
Visible Satellites Calculate :
Control Stations Monitor Satellites
Relative Positions,
Coordinates,
Velocities
GPS information sent as LCM Message
Local positions, coordinates & velocities
P.I.D. Feedback Loop Controller
Proportional Error
Integral Error
Derivative Error
Input: 9 V - 36 V
Output: 12 V DC
LM317 - Adjustable Relator
Output: 1.2 V - 37 V
12 V
5 V
Toggle Switch
LEDs
Future Goals
Winter Break
Assemble both boards & test
Start designing PCB s
Order Lithium batteries
January - May
Test boards with ASV's devices
IF prototype boards are successful
Test & simulate PCB design against predicted loads
Order PCBs, assemble & test
Swap prototypes with PCBs for competition
Temperature:

Total Current Draw:

Battery Voltage:

Current Objective:
Software
Android SDK
Future Contributions
Test and implement sensors into system
Continue app progression
Stress test
Full transcript