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

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

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

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)

DesignASV flowchart….

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Primary Navigation systems

GPS and Gyro

Sensor payload

Temperature sensor

M1

M2

Microcontroller

uMMC data

storage Module

Final design of ASV

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On landIn the workshop

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

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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