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  • Autonomous GPS-Based Marine

    Search and Rescue Vehicle

    Alex Kindle

    Justin Stocker

    Worcester Polytechnic Institute

    Department of Electrical and Computer Engineering Department of Robotics Engineering

    Advisor:

    R. James Duckworth Co-Advisor:

    David Cyganski

  • Overview

    • Project motivation

    • Background material

    • Robot functional overview

    – Design requirements

    – The vehicle

    – System electronics

    – Onboard sensors

    – Software implementation

    • Video demonstration of robot

    • Results and Recommendations 2

  • Project Motivation

    • Establish a need: search and rescue

    • How will the project fill this need?

    • Time and budget constraints

    • Leave room for future expansion

    – Allow room for additional functionality

    – Provide recommendations for future work

    3

  • Background

    • Existing MOBI Systems

    – ORCA MOBI

    – Sci-Tech MOB

    Tracking System

    – SeaMarshall AU9

    • Commonalities with our design

    4

  • Project Requirements

    • Autonomous operation

    • GPS-based navigation

    • Victim Rescue

    5

    Mothership

    Rescue Boat

    Victim

    Victim Unit

  • System Overview

    6

    Rescue Vehicle

    MCUMCU

    WirelessWireless

    GPSGPS

    Victim Unit

    WirelessWireless

    GUIGUI

    Navigation

    Software

    Navigation

    Software

    Mothership

  • Rescue Vehicle Chassis

    • Requirements

    – Ease of interfacing

    • Standardized parts

    • Purchasing vs. building

    – Focus on ECE aspects of design

    • AquaCraft Mini Rio

    7

    Stock RC unit - Removed

    Steering Servo Controlled by Development board

  • Rescue Vehicle Control

    • Development board

    – ATMega2560 CPU

    – Servo headers

    – Timer IO broken out

    • H-Bridge daughterboard

    8

    WirelessWireless

    GPSGPS

    ServoServo

    H-BridgeH-Bridge

    RuddersRudders

    MotorMotor

    Development BoardDevelopment Board

    UART0UART0

    UART1UART1

    Timer1Timer1

    Timer2Timer2

  • Victim Unit

    • Custom PCB

    – ATMega164 CPU

    – Power circuitry

    – GPS module

    – Wireless module

    9

    GPS

    Receiver

    Wireless

    Radio

    CPU

    Victim Unit Top

    Victim Unit Bottom

    1 inch

  • Navigation Software

    • Host software

    – Java

    – Graphical interface

    – Navigation control loop

    10

    Serial PortSerial Port

    Rescue Vehicle

    Stream

    Rescue Vehicle

    Stream Victim StreamVictim Stream

    Navigation

    Handler

    Navigation

    Handler

    Rescue

    Vehicle

    Comm

    Rescue

    Vehicle

    Comm

    DisplayDisplay

    GPS Serial Parser

    Rescue

    Vehicle

    Rescue

    Vehicle

    Mothership Rescue Vehicle GPS

    Victim GPS

    Rescue Vehicle Commands

  • Full Rescue Scenario

    11

  • Video Demonstration

    12

  • Demonstration Results

    13

  • Results & Recommendations

    • Successfully completed design goals

    – Autonomous operation

    – GPS-based navigation

    – Victim rescue

    • Suggestions for future work

    – Full-scale implementation

    – Physically aiding the victim

    – Close-proximity localization

    • VOR

    • Ultrasonic

    14

  • Acknowledgements

    Thanks to:

    • Professors Duckworth and Cyganski

    • ECE Shop

    • Robotics staff

    • WPI Department of Electrical and Computer Engineering

    • WPI Department of Robotics Engineering

    • Andy Stocker, Film Editor Extraordinaire 15

  • Questions?

    16