SPONSORSHIP C U A U V ORNELL NIVERSITY UTONOMOUS NDERWATER EHICLE

Transcription

1 SPONSORSHIP C U A U V ORNELL NIVERSITY UTONOMOUS NDERWATER EHICLE

2 contents 3 about us 4 team facts 5 competition overview 6 competition details 7 the vehicle 8 subteams 11 outreach 12 sponsor us 13 sponsorship levels 14 contact CUAUV SPONSORSHIP INFORMATION

3 about us we are a team of students exploring the cutting edge of unmanned underwater vehicle technology. we compete annually in the international RoboSub competition organized by the Association for Unmanned Vehicle Systems International (AUVSI) and held at the Space and Naval Warfare Command Research facility in San Diego, CA. we placed first out of approximately 30 teams in 2013, 2012, 2010, 2009, and In 2011, we placed second. Our team has placed first annually in technical design from 2002 to 2010 and in 2012 and In 2011, we placed second in technical design. We hope to continue with our success next year. In 2014, our team is taking ideas from previous years and continuing to innovative and improve on the new vehicle s design. we depend on the generous support of our sponsors and could not exist without such support. We welcome monetary and in-kind donations to help support our endeavors in creating and improving autonomous underwater vehicles. 3

4 team facts 20,000 Over 20,000 man-hours per year are spent working on the vehicle The development of the autonomous underwater vehicle (AUV) is a year-long process. First, we spend more than half a year designing and the vehicle. This is then followed by building, testing, integration, and competition preparation, respectively. Typically, the competition challenges imitate many obstacles in current underwater research. Apart from excelling at the competition, CUAUV is at the forefront of discovering and implementing research techniques that help the industry overcome problems in the underwater robotics field. We are a team of great talent and our success has drawn tremendous interest from industry leaders and researchers alike Founded in 1999, this year marks our 15th anniversary. We are a team of 43 students coming from three of Cornell s colleges. We come from ten different majors and have placed top ten every year. We have four faculty advisors: Professors Graeme Bailey, Peter Jackson Bruce Land, and Alan Zehnder. CUAUV SPONSORSHIP INFORMATION

5 competition CUAUV competes in the international RoboSub competition organized by the Association for Unmanned Vehicle Systems International (AUVSI) Foundation and the Office of Naval Research, and held at at SSC Pacific s TRANSDEC pool in San Diego, CA. The competition is co-sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) Foundation and the U.S. Office of Naval Research (ONR) with the goal of advancing the development of AUVs. The event serves to foster ties between young engineers and organizations developing AUV technologies. The competition mission elements and tasks are designed to simulate real-world challenges such as visual recognition of objects, navigation and acoustic sensing. The following images of mission elements were taken by CUAUV s 2013 vehicle, Ragnarok. competition layout

6 mission elements To begin the course, the vehicle must pass through a validating gate. 2. Three different buoys are moored to the floor cycling through different colors, and the vehicle must strike and set two specific different buoys to a particular color The vehicle must pass through a horizontal pipe and two floating risers on each end. 4. Four bins are arranged in a 2x2 array, and the vehicle must drop up to two markers in specified bins The vehicle must fire torpedos through the designated 7 primary and secondary hexagons for maximum points. 6. The vehicle must turn the steering wheel more than 360 and move the shifter to the opposite direction An acoustic pinger leads the vehicle to an object, with which it must finally surface within a recovery zone. CUAUV SPONSORSHIP INFORMATION

7 the vehicle CUAUV is proud to present Gemini, its 2014 vehicle. Gemini improves upon its predecessor in every aspect of its development, with more flexible electrical systems, enhanced user interfaces, and new double hull design to decrease overall size and weight. The goals for our team in 2014 include FEATURES: Dry weight: 70 lbs Dimensions: 41 L x 23 W x 18 H Max Speed: 0.5 knots Run time: 2 hours Improving upon our robust sealing system Developing stereovision capabilities Optimizing the vehicle s weight and size as well as the number of components Integrating a new hydrophone system with custom hardware Revamping wire-management and electronics maintenance by separating custom circuitry parts from part we receive from our sponsors Power: Two 8000 mah lithium-polymer batteries 7 Gemini

8 subteams sensors actuators power ITbusiness racks & caps external enclosures structures PR software hydrophones CUAUV SPONSORSHIP INFORMATION

9 mechanical software The software on the vehicle is powered by a mobile quad-core Intel Core i7 Haswell processor on a COM-Express motherboard, along with an Adata msata SSD. Our software stack starts with Debian Wheezy GNU/Linux and features a custom shared memory system for centralized vehicle state with interfaces supporting C/C++ and Python programs. Sensor outputs are fused in a Kalman filter to provide reliable vehicle position, velocity, and orientation. The vision system features a multi-threaded, extensible framework based on the OpenCV computer vision library to easily manage capture sources and vision processing modules. These modules use techniques such as multicolorspace segmentation and statistical moment analysis to quickly isolate visual mission components. Our tree-based mission system allows us to write flexible missions for testing, competition, and research purposes. New features this year include a quaternion based controller, more accurate mission element localization, a comprehensive vision testing and tagging application, and high efficiency video streaming. Gemini s mechanical infrastructure consists of a vehicle frame, a vacuum-sealed pressure vessel, a unified pneumatics system and a variety of smaller enclosures. The frame of the vehicle consists of five uni-body lightweight aerospace trusses, which mount the majority of vehicle components without the use of brackets. The main pressure vessel is sealed using a vacuum to house and protect a large portion of Gemini s electronics, including the computer and, new to this year, the Doppler Velocity Log (DVL). It also provides mounting for the stereoscopic camera array. The pneumatics system is implemented with a large enclosure that contains the solenoid valves and manifold. The pneumatics system is used to actuate the grabber, fire torpedoes and drop markers. In addition, a number of other enclosures house electronics in need of isolation, including our hydrophone array and batteries. 9

10 sensors An advanced sensor suite is key to the vehicle providing useful data to the users, as well as allowing accurate control of the vehicle s movements.the vehicle has multiple FireWire AVT Guppy cameras to provide both downward and forward views from the sub. It is also equipped with an advanced acoustic system (hydrophones) which include a passive array built with three Reson piezoelectric elements. Signal processing is done using a combination of analog filtering and digital signal processing on an Analog Devices SHARC With this system, heading and elevation to a pinger can be computed to within one degree. This year we are working to expand the system to include active element capabilities using an entirely new output board with custom outside-the-rails amplifiers to drive elements and a new architecture using a hybrid DSP+FPGA processing back-end. Gemini is also equipped with sensors that provide feedback on dynamics to allow for precise control. This year a custom three-axis compass based on Honeywell chips will be used to measure vehicle heading, while depth will be measured by measured by an MSI pressure sensor. Our team is also developing a custom IMU to measure angular velocity and linear acceleration on all three axes. Another key sensor is the Doppler Velocity Log (DVL) which returns vehicle velocity in surge and sway. This allows for closed-loop velocity control, giving the vehicle the ability to hover. electrical The Gemini electrical system has a hour runtime using two Lithium polymer batteries. The entire power system is hot-swappable, including changing between battery and bench power. Internally the sub uses regulated voltage rails at +5, +12, and +24 Volts. Custom-designed sensor and control boards use a CUAUV-designed serial protocol to support rapid integration with the main software stack. 10

11 outreach Throughout the semester, our team organizes multiple outreach events to better acquaint the greater Cornell and Ithaca communities with our team and our sponsors. In addition, we also host a Boy Scouts Workshop annually, and give tours of our Experiential Learning Lab. Girl Scouts Workshop Our team hosts an annual workshop for Girl Scouts so that the girls can earn their Science in Action badge. Girl Scouts rotate through several stations led by CUAUV members and participate in different hands-on activities to learn about principles of science and engineering. Ithaca Sciencenter During our presentation at the Ithaca Sciencenter, we invite children from the audience to participate in vehicle demos, such as torpedo launching and image recognition. We are excited about bringing hands-on science activities to Ithaca s youth and introducing children to science and engineering. Open Pool Test The Cornell and Ithaca communities are invited to Teagle pool to watch this year s vehicle maneuver through a replication of the previous year s obstacle course. The open pool test encourages the Ithaca community to take an interest in engineering, especially in the field of underwater robotics. Lake Testing We have partnered with the floating classroom project to test our vehicle in Cayuga Lake. Our goal is to increase vehicle durability so that the vehicle can dive deeper for longer periods of time in harsh lake environments. We also collect data from the lake to aid in environmental research. CUAUV SPONSORSHIP INFORMATION

12 sponsor us Our achievements would not be possible without the generous support of individuals and industry partners like yourselves. Ways you can sponsor the team: Monetary Donations Hardware Donations Software Donations Airline Mileage Donations *Listed: Platinum (left) and Gold Sponsors (right)

13 sponsorship levels Platinum (Over $5,000) Company sponsorship/logo on tri-annual newsletter sent to alumni, staff and other sponsors Prime location of company logo on competition vehicle Company name on 14 competition uniform Company name, logo and website link on the team website (cuauv.org/sponsors) Company name on 14 competition paper, poster, brochure and sponsorship packet First priority in company info-session hosting with team and access to team resume book Gold ($2,500-5,000) Company logo on competition vehicle Company name on 14 competition uniform Company name, logo and website link on the team website (cuauv.org/sponsors) Company name on 14 competition paper, poster and brochure Priority in info-session hosting with team and access to team resume book Silver ($1000 to $2,500) Company name on 14 competition uniform Company name, logo and website link on the team website (cuauv.org/sponsors) Company name on 14 competition paper, poster and brochure Opportunity for info-session hosting with team and access to team resume book Bronze (Up to $1000) Company name, logo and website link on the team website (cuauv.org/sponsors) Company name on 14 competition paper, poster and brochure Opportunity for info-session hosting with team and access to team resume book Individual/Alumni Sponsorship Recognition in next newsletter and alumni mailings (with permission) Receive the same benefits as corporate sponsors in accordance to the levels above Supporting CUAUV s tradition of excellence beyond your years on the team CUAUV SPONSORSHIP INFORMATION

14 contact B62 Upson Hall Cornell University, Ithaca, NY http:// Select Other under Designation and enter CUAUV in the Other designation or special instructions area 14

15 THANK YOU. CUAUV SPONSORSHIP INFORMATION