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BlueROV2 TeamAquaman
DANTE D’AMICO, ALEC ESPIÑA, MATTHEW KIRBY,
DANIEL LENTINI, FEDERICO MACCHIAVELLI, KEVIN WARD
AcknowledgementsØ Dr. Brendan Englot – Research Mentor
Ø Jinkun Wang – PhD Student
Ø John “Jake” McConnell – PhD Student
Ø Paul Szenher – Undergraduate Student
This material is based upon work funded by the U.S. Department of Homeland Security under Cooperative Agreement No. 2014-ST-061-ML0001.
The views and conclusions contained in this document are those of the authors and should not be interpreted as necessarily representing the official policies, either expressed or implied, of the U.S. Department of Homeland Security.
Ø Maritime Security Center
ØThe Robust Field Autonomy Lab
Ø The Davidson Lab & The Proof Lab
ØU.S. Marine Merchant Academy
Project Overview
BlueROV2 and Autonomous Mapping
How can we increase the BlueROV2’s payload capacity
while still allowing agile autonomous navigation?
RESEARCH
QUESTION
Homeland Security
• Oil spills• Underwater rescue missions
Disasters
• Remote or dangerous underwater environments• Exploration
Terrain Mapping
• Harbor and underwater pier pilings• Safer and more efficient to use ROVs than divers
in many cases
Infrastructure Inspections
Our Approach/Methodology
Constructing the physical BlueROV2
Designing the electronics layout
Implementing the ROS software
Testing the BlueROV2
Distribution of Labor
• Dante D’Amico: SIT / CPE• Matthew Kirby: SIT / ME• Daniel Lentini: SIT / ME• Kevin Ward: SIT / CPE
Mechanical
• Alec Espiña: UPR / EE• Federico Macchiavelli: UPR / EE
Electrical & Software
Project Outcomes
Construction• Built BlueROV2 with heavy configuration
• Designed sensor mounts and supports
System Architecture
Electronics•Modified electronics tray and attached third party sensors
and equipment
• Constructed new circuit and connected to existing BlueROV2 system
• Implemented exterior power switches
ROS Software• Set up and installed RFAL’s ROS software on Jetson Nano
• Pulled and visualized live data from VN-100, DVL, and both Oculus sensors simultaneously
Testing• Interfaced BlueROV2 functions to
game controller through QGroundControl
• Tank testing in Davidson Lab Towing Tank
Testing Videos
Future Objectives
Next Steps
•Design lowering system and printed circuit board •Upgrade thrusters and processing power•Test in non-ideal conditions
•Add more sensors
Conclusions
MSC SRI 2019
The BlueROV2 team successfully designed, built, and tested a customized BlueROV2 capable of diving and exploring underwater environments.
Thank you for your attention!Any questions?