Meeting Minutes

September 30, 2012
  • Demonstation at Whitehurst beach
    • Final program has been cleaned and commented for demonstration use
    • The ASV was pushed to it's limts in open water and confidently worked through the course
    • Time to get started for Roboboat 2013!

June 25, 2012
  • Roboboat 2012 Results
    • ODU qualified for the finals in 2nd place!
    • Despite technical difficulties on our final run, ODU finished 6th place overall!
    • ODU took home an Open Source award for sharing key parts of the ASV coding and programming.

June 12, 2012
  • Finishing up the challenge station systems
    • Challenge station programming has been integrated into the main program and has been tested using isolated conditions
    • The team is currently working out wiring issues with the hardware components and running full systems testing
    • The full program including the challenge station systems will hit the water for test by the end of the week

June 1, 2012
  • Rachel, Kyle, Lee, Dr. Hou
  • We went over our current progress and came up with a plan for wrapping things up before the AUVSI Competition in only 19 days! This is the unofficial list of all remaining tasks. If anything has been forgotten, please add it to the official list in the main ASV Dropbox folder.
  • Competition:
    • organize tools - Rachel
    • extension cords/surge strips - Rachel
    • extra chairs - Rachel
    • spare parts - Kyle/Rachel
    • tuesday check-in - Team
    • check alternative test sites (Lake James) - Team
    • call Founders Inn to check for early testing - Dr. Hou
    • confirm availability of canoe - Justin
  • Mechanical:
    • attach new motor mounts - Kyle
    • attach prop shields - Kyle
    • test shields - Kyle
    • check on DTB hull - Kyle
    • paint pontoons/box - Rachel/Kyle
    • shorten motor shafts - Kyle/Rachel
    • clean up wiring - Kyle
    • trailer padding - Rachel
    • complete water cannon - Rachel/Kyle
  • Programming:
    • use lidar to replace duplicate buoys - Justin
    • gps transmit - Justin
    • shape constraint for submerged buoy - Justin
    • add standby gps location for challenge stations - Kyle
    • add compass navigation for beginning of navigation and after blue buoy - Kyle
    • gps course area - Kyle
    • test PD controller - Kyle
    • add gps speed calculation to State Arduino - Kyle
  • Vision: -Lee friday june 8
    • print sample stations
    • recognize challenge stations(cheater, submerged, hot suite)
    • confirm "bar" buoy measurements
  • Schedule:
    • Monday, June 4: water test: pd controller, challenge station using buoy, lidar + vision combination, gps locations, gimbal angle for submerged object
    • Friday, June 8: new code deadline (everything on list)
    • Sat/Sun June 9/10:water: test real challenge stations, gps waypoint navigation

May 21, 2012
  • Rachel, Kyle, Lee, Dr. Hou
  • Successful testing of dual cameras and LiDAR
  • LiDAR successfully found a buoy that was approx. 6 inches under water
  • Next Steps:
    • The next water test will include a derivative controller
    • Focus on challenge stations: hot suite, cheater's hand, and the jackpot
    • The state unit will atleast store data, goal is to pass data to navigation logic
    • Finalize fiberglass boat design

May 16, 2012
  • Stanton, Rachel, Kyle, Justin M.
  • GOAL: Full system water test Fri. May 18th to include dual vision, LIDAR object avoidance, state data, and funtioning gimbal mount
  • Status:
    • Dual cameras work with full system
    • LIDAR avoids objects identified as buoys within 1 meter
    • Color input method updated to improve migrating threshold
    • State unit will atleast store data, goal is to pass data to navigation logic
  • Tomorrow:
    • Computer brackets will be added
    • studs will be cut and capped
    • Sharp corners polished
  • NOTE: Testing will be held at the boat ramp off of Delaware at 1:00PM Friday, May 18th

Apr 30, 2012
  • Stanton, Rachel, Kyle, Stevin, Lee
  • Vision
    • Dual camera is ready for testing
    • Pictures can be cropped across the top and/or bottom
    • Test auto-calibration May 9th
  • LIDAR: Justin Maynard to have code integrated by May 11th
  • Mounting camera and LIDAR to the gimbal using counter sunk screws
  • Frame
    • Computer brackets
    • Corner stiffening
    • Removing sharp edges
  • May Parts Order
    • Polo shirts
    • Cart/trailer
    • Connectors and cables
    • Small clear pelican case
  • Testing
    • Dual cameras in the new mount
    • 'Scan' funtion to see if the ASV will get back on course
    • LIDAR hieght needed to find buoys

Apr 18, 2012
  • Stanton, Kenely, Rachel, Kyle, Steven, Stevin, Jason, Lee
  • Vision
    • Camera mount needed
    • Dual camera vision to be integrated into main program by April 30th
    • Indoor test of two camera vision on April 30th
    • Auto-calibration progress made, but not ready to integrate in main program
  • LIDAR
    • Modified vision function needed
    • To be used as object avoidance (runs an 'avoid object' function if closer than 3ft)
    • Need to test how LIDAR will react to water (Refract, Reflect, etc.)
  • Written Report
    • Due Tuesday for the ME class (needs modification before submitting to RoboBoat)
    • Challenge station sections to be written by various ME team members
  • Prop shields broke during testing and need slight modification before reprinting

Mar 21, 2012
  • Dr. Hou, Stanton, Kenely, Helen, Rachel, Kyle, Stevin, Steven, Jason
  • Propeller Blades:
    • Testing the new 4 bladed propellers to see if we have more control with power/thrust.
    • We can try a propeller with a higher pitch if needed.
    • Open prop to simulate blades for thrust
  • Prop Shields :
    • Drawn in autocad
    • Made in different peices so that we can get it off of the trolling motor easier
    • Needs to be saved as an STL file to be printed by the 3D printer
  • Vision Code/Mounting :
    • We need to attach the equipments to the deck
    • GPS 2 is better than 1
  • Challenge Stations :
    • Card Exchange - Jason
    • Poker Chip - Stevin
    • Cheater's Hand - Helen
    • Hot Suite - Kenley
  • Design : Order 2 more pontoons

Mar 14, 2012
  • Dr. Hou, Stanton, Kenely, Helen, Rachel, Kyle, Steven, Jason, Lee
  • Rachel: We should be rearranging the team to get ready for special tasks
  • Kenley: April Parts order is due soon. Need to get receipts and documents of orders from Diane
  • Rachel: Pontoons measured 20 lbs in water. 2 options. Buy another pontoon or fiberglass structure to make the pontoons to float better.
  • Helen: New website update and will be completed by next week. Shirts: Brandfuel.com is the company to contact. Design and contact with the company by Wednesday.
  • Prop shields:
    • Jason: clamp instead of drilling through the pole, locking nuts
    • Kyle: electric scuba diver scooter style
    • Shield designs need to be submitted to the 3D printer by Friday
  • Design: mounting of the hardware, frame, supporting pipes through the frame.
  • Lidar integration should be done by next Friday from Justin and Rob
  • Kyle: Friday testing, robotic and power testing in the computer box, the boat can be remotely controlled with the computer off, prop shield with 4 blades
  • Stanton: 3 sensors to be Arduino eyes. GPS: with new board, there is room for 3 unit inputs to place over GPS units and possibly average out the data from 2 GPS chips
  • Lee: triple camera unit is optional

Feb 29, 2012
  • Dr. Hou, Stanton, Kenely, Rachel, Kyle, Steven, Jason, Lee
  • 11:45 Design: still waiting on Pontoons, building the frame tonight, trailer and hardness (April order)
  • 11:55 Motors and powers: possibly use 3D printing forprop shields
    • 2 weeks to have CAD drawing and extra options
    • March order by Friday
  • 12:05 Sensor input
    • GPS: need better device (or maybe radio beacon)
    • Magnetometer is not working for heading
  • 12:15 System
    • Optimize vision in next 2 weeks
    • Ready to use Arduopilot data
  • 12:20 Vision
    • All colors are working
    • Range is not sufficient at speed needed
  • Note Saturday 24th March 9:30 am - 12:30 pm by fountain Freshman tour

Feb 22, 2012
  • Dr. Hou, Stanton, Rachel, Kyle, Steven, Stevin, Jason, Lee
  • There will be a meeting at Kyle's on Friday (all sub-team attendance encouraged)
  • Meeting at Rachel's house Wed Feb 29th to construct hull (pending arrival of pontoons)
  • Cost and risk analysis will be conducted in early March. Purchases will go on April order.
  • Modular adjustable frame will be used to determine the optimal design through testing. Considerations include:
    • gimbal location
    • low profile to reduce wind effects
    • motor mounting
    • amphibious vehicle transportation
    • fire hose location
    • velcro carrier (required for transportation of an AUVSI device)
  • Decided to hold of contacting Rob Stuart for fiberglass until a final design is confirmed through testing of a modular design.
  • Measuring power usage:
    • Choose best method for measuring amperage then decide on which sensor to use
    • Choose volt meter
    • Both must be input to aruduino/ardupilot for monitoring
  • Correcting prop walk options
    • Counter rotating prop
    • Corrected in programming
  • Batteries to look into: nickel-metal

Feb 15, 2012
  • Dr. Hou, Stanton, Helen, Rachel, Kenley, Kyle, Steven, Stevin, Jason, Lee
  • Lee has a program running on his PC that tracks the color blue with sufficient range. Also determines shape (round vs. rectangular), distance (based on known width of buoys), and angle.
  • The gimbal servo code is working and runs at a speed that is more than sufficient.
  • The three motors arrived and have been taken to Kyle's house
  • Still waiting on the pontoons to come in.
  • Gantt chart was updated:
    • Robotics is on task.
    • Power & Motors Team is developing a list of possible batteries, more testing is required to complete task.
    • Design Team is striving to have the hull construction finished mid March and attach all hardware by April

Feb 8, 2012
  • Dr. Hou, Stanton, Rachel, Kyle, Steven, Stevin, Jason, Lee
  • General:
    • Pontoons and motors have been submitted for ordering
    • Testing Friday using remote desktop user inputs
  • Robotics:
    • Wiring finished
    • Started running (user input) test on the navigation code (motor response was established)
    • Remote controller is working
  • Design: Proposed several frame designs for the 3-pontoon setup (plate vs. bars)
  • Power:
    • Purchase two batteries for the competition
    • Run a test to determine capacity
  • Week Goals:
    • Design: Build frame from deck up (look at current design to understand requirements)
    • Power: List of battery options considering: capacity, weight, voltage, charge time, operating temp, and cost
    • Robotics: Calibrating motor speeds; Justin is finishing the gimbal code (from Audio-Pilot bypassing the computer); create remote-desktop, real-time, aerial viewing plot

Feb 1, 2012
  • Dr. Hou, Lee, Rob, Stanton, Kyle, Helen, Stevin, Steven, Kenley, Rachel
  • General: Parts order sheet was filled out for the month of Feb., included buoys, pontoons, and motors Saturday (Feb 4th) will be on full systems test on the water
  • Design:
    • Adjustable center of gravity ideas presented by Stevin
    • Composite framework from XVD
    • Triple hull design being considered
  • Robotics:
    • Goals for Friday (Feb 3rd) were discussed
    • All code segments will be integrated into one main() Friday
  • Propulsion&Motor:
    • Haven't confirmed wiring details for desired motors due to manufacturer being unreachable.
    • Decided to take the chance and buy the light motors (still under budget in the dept)
    • Note: A store in Norfolk stocks the Watersnake motor

Jan 25, 2012
  • Dr. Hou, Helen Heo, Rachel, Kyle, Steven, Stevin, Stanton, Jeff, Kenley, Jason
  • Gimbal bearing attached
  • Design:
    • Decided to use sailboat stabilizers
    • Hope to obtain third pontoon from dealer
    • Discussed heavy unistrut issue, possibly using an available .5? angle
    • Note: total computer weight is 21 lbs
  • Robotics:
    • Discussed new C++ programming structure
  • Propulsion:
    • Considered 2 motor options, spreadsheet generated to compare further

Jan 18, 2012
  • Dr. Hou, Dr. Chen, Helen Heo, Rachel, Kyle, Steven, Stevin, Stanton, Rob, Kenley, Jason
  • Gimbal:
    • Jeff: Needs more machining including drill holes
    • Dr. Chen: ECE has servo working for the gymbal and a manual written
  • Design:
    • Stevin: presented CAD drawings of pontoons with flat back design
    • Steven: presented sailboat stabilizers
    • Decided less than pontoon submerged for stability
    • How to balance buoyancy and weigh unbalance
  • Propulsion:
    • Motor and propeller options
    • Replacement moter option around $100 and less than 50% weight of current moters
    • Buy 3 motors
    • Need new shields

Jan 10, 2012
  • Dr. Gene Hou, Helen Heo, Rachel Mittesltaedt, Kyle Rogachenko, Steven Schesventer, Kevin Mcleod, Stanton Coffey, John Burnas, Lee Guo
  • A system layout was presented by Lee and modified by Kevin (can be found in the dropbox)
  • 2 battery system will be needed (one for computer and one for the speed controllers)
  • Computer battery must be between 6 and 34 Volt (12 to 24 Volt preferred)
  • Project is currently on budget
  • Compass needs to be ordered
  • Buy double of most everything everything (testing and competition parts)
  • New hull construction target date moved to April 15, 2012
  • New Team Dynamic
    • Hull design (Steven, Stevin)
    • Motor & Batteries (Jason, Kenley)
    • Robotics
    • Navigation
    • Input (Helen, Rachel, Lee), Output (Kyle, Stanton)
    • Sensor Mount (John, Rachel, Stanton)
    • Computer Hardware (Kevin)

Dec 13, 2011
  • Helen Heo, Kenley Fong-Sam, Kyle Rogachenko, Rachel Mittelstaedt
  • Check out the current status boat.
  • Forms need to be done by the 15th of December in order for the team to save 100$
  • Gather information needed for the form.
  • Organize the warehouse
  • Discuss goals for over break and next semester
  • Software to download
  • Open CV
  • Visual Studio C++ 2010 Express or Codeblocks
  • Arduino 1.0 - arduino.cc

Nov 29, 2011
  • We went over the Gantt Chart in detail, and updated estimated tasks durations.
  • If there is a part you are going to need by January you must email Kenley Immediately so that it can be ordered this week!
  • By the first day of class nest semester it will be expected that everyone has read the 2012 rules and is fully up to date with the current state of the project, especially anything pertaining to your tasks. Also become familiar with the AUVSI Foundation's website http://www.auvsifoundation.org/foundation/competitions/roboboat/ Helen has agreed to start the website this evening so that we can begin recording our progress.