Development and Initial Testing of an Autonomous Surface
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1) The document describes the development and initial testing of an autonomous surface vehicle (ASV) for shallow water mapping. 2) Key aspects of the ASV's design are discussed, including its catamaran hull, onboard sensors and computer system, navigation approach, and data collection payload. 3) Initial testing in swimming pools, ponds, and lakes demonstrated the ASV's ability to safely maneuver in shallow areas and collect bathymetry data, filling a gap in current mapping methods. However, further improvements are still needed before fully autonomous deployment.
Development and Initial Testing of an Autonomous Surface
- 1. Development and Initial Testing of an Autonomous Surface Vehicle for Shallow Water Mapping Presenter : Mohamad Hilmi Mat Idris M.H. Mat Idris *, M.I. Sahalan,M.A. Abdullah, Z.Z. Abidin Autonomous Agent Research Group (AARG), Department of Mechatronics Engineering. Kulliyyah of Engineering, International Islamic University of Malaysia, 53100 Selangor Malaysia
- 2. Presentation Outline • Introduction • System Design • Mechanical consideration • On-board computer and communication • Power supply • Navigation • Sensors Integration • Data Logging • Payload • Result • Conclusion and Future Work
- 3. Introduction • Shallow water mapping - process to measure and map the shape of the coastal, lake, dam or waterway. • Importance of ‘shallow water mapping’ • Marine and freshwater resources and ecosystems are now recognized as ranking among the world’s most valuable assets. • We need bathymetry/depth information to • Manage environmental hazards (from coastal erosion to tsunami). • Sedimentation monitoring, volume calculation (river, dam). • Underwater construction (dams, bridges, marinas, coastal protection) • Conventional method • 1) Hydrography ship 2) Satellite 3) LiDaR • Drawback of current method aka ‘gap’ • Non capable for shallow and high turbidity and tight area. • Proposed solution • Small portable Autonomous Surface Vessel ( which later called ‘ASV’).
- 4. System development • ASV Initial Specification Item Specification Hull Configuration Catamaran Dimension 1170mm x 360mm x 150mm Turning diameter 2m Max Payload 10kg Average speed 4.5kt Operation time 3hours
- 5. • Mechanical consideration • Hull Type Selection (Catamaran vs Monohull) • Better Roll and pitch stability. Catamaran (top) vs Monohull (bottom) stability comparison System development
- 6. • Mechanical consideration • Hull Type Selection (Catamaran vs. Mono-hull) • Easy access to water ( for underwater sensors) • Less drag force compare to mono-hull (more energy saving) • Hull Material type(fiber glass) • Robust for field deployment System development
- 7. • On-board computer and communication Base station (autonomous) • Laptop (Matlab GUI) • BlackBox RF Modem Base station (manual) • Futaba RC Transmitter On-board Electronics • Blackbox RF modem • Futaba RC Receiver • Arduino Mega Payload Sensor • GPS, Sonar, Compass, Probes (Serial RS232- NMEA 1803) System development
- 8. • Power supply • Two types of batteries (estimate 3 hours operation*) • 12V/4000mAH LiPo batteries connected in series, providing 24V nominal voltage for propeller • 12V 9800mAH battery pack. Additional DC/DC converter is used to provide power sharing between the devices. 12V Litium-Ion Capacity : 9800mAH 12V Litium Polimer Capacity : 4000mAH System development
- 9. • Navigation • Garmin eTrex® H, a high- sensitivity GPS receiver that can to lock onto satellite signals quickly and maintain accuracy up to ±3m during clear view sky. • KVH C100 Fluxgate Industrial- grade compass module that has accuracy up to 0.1°, ±0.5° resolution, ±45° tilt angle compensation and 1 second response time • Both sensors are RS-232 and NMEA 0183 compatible for easy integration. Waypoint navigation flowchart System development
- 10. • Payload and Sensors Integrations • AtlasScientific water probes (e.g. pH, conductivity, dissolve oxygen, and oxidation reduction potential) Water Probes Sonar Sensor GPS NMEA 1803 NMEA DATA COMBINER Micro Controller Data Parsing and data logging SD card module RF Transceiver System development
- 11. • Maneuvering Test • Straight line test • Using RC operation • Max speed : 8m/s • Bad reverse thrust • Circle Maneuver • Minimum turning diameter : 4meter • Fairly enough for survey operation (lawn mower) • 360 rotation if more preferable for very tight area. Result of Experimentation Test
- 12. • Sensors Reading and Logging $GPGSV,3,3,11,30,30,175,35,07,05,153,00,09,13,119, 00*4B $PENV,7.00,8.19,272.28,12.36,6,0.00,1.000*51 $SDMTW,023.1,C*34 //Channel 0 @ pH 7.00 //Channel 1 @ Dissolve Oxygen 8.19 //Channel 2 @ Oxidation Reduction Potential 272.28 //Channel 3 @ Conductivity 12.36,6,0.00,1.00 Raw Data Excel Format Data Result of Experimentation Test
- 13. • Field Test (Plot of data) • Swimming Pool Test, IIUM Sport Complex • Small Pond, NAHRIM • Maryam Lake, IIUM Person Monitoring Data at Base Station Field test devices setup Result of Experimentation Test
- 14. Depth Swimming Pool, IIUM Sport Complex Depth plot Small Pond, NAHRIM Result of Experimentation Test
- 15. Depth plot at Maryam Lake, IIUM Result of Experimentation Test
- 16. • Conclusion • Small portable ASV had proven to fill the gap between LIDAR, satellite bathymetry and hydrographic vessel. • The catamaran hull provide platform stability to enhance performance of data measurement. • The mission test and real scenario trial proved the operability of the ASV for a shallow water mapping operation. • In its current form, the boat meets its design objectives by its capability of safely maneuver at a very shallow and tight area while collecting bathymetry data. • Future work • Development of additional payload modules. • upgrade of navigation sensors • incorporation of robust navigational controller to enhance performance in strong current and wind • the used of vision-based navigation system in negotiation above and below water obstacles Conclusion and Future Work