Autonomous Surface Vessle Competition

Here is System's Engineering's first entry into AUVSI's (a professional society for unmanned systems) second annual autonomous surface ship cometition in Norfolk VA.

Capstone Projects: Disruptive technologies

Commercial Technologies with Disruptive Applications by 1/C Brad Cash (Class of 2010)


The overall purpose of this project is to explore what type of capabilities a domestic terrorist could achieve using commercial technologies that could prove harmful to the U.S. by supporting asymmetric disruption. For this particular project, we explored how to control a cheap off-the-shelf RC vehicle from considerable distances by using the wireless Verizon 3G network. The vehicle is equipped with a small Artigo Pico ITX kit computer on board and connected to the 3G
network via a wireless modem. The user controls the vehicle via a webpage.

King of the Mountain

One of the first challenges in ES451 Mobile Robot Design is to build a robot that can climb a steep slope. While it might just seem like we're playing with legos, teams must consider the same issues they might consider in any vehicle design: tire material, gearing, location of center of gravity and frame geometry.


To put in perspective just how steep the hills were, driving up a 45 degree incline only gets you a B! Here is an unsuccessful effort:



But with a little more work, the winning teams made it up a 55 degree incline!



Note: The robot's are not able to sense if they are sitting straight on the hill, so "nudges" are allowed, as long as they don't help you up the hill. One of the groups is working on a slef steering version as part of their midterm project.

Capstone Project: Convoy

People have long been interested in the idea of an automated convoy. Iraqi convoy operations are known to be dangerous; but even in the United States the idea of automating trucking is appealing.



In a convoy, the leader can be a manned or autonomous vehicle. The remaining vehicles are autonomous. Their job is to simply follow the vehicle in front of them.



One risk is that if the leader suddenly accelerates or brakes, there is a danger the followers will not be able to maintain their relative position. This disturbance or oscillation propagates down the "string" of vehicles, giving rise to the term "string stability".



Prof. Robertson, Feemster and ENS Henderson investigate how this problem can be alleviated using something called command shaping -- instead of flooring the accelerator or brake the leader smooths his transitions to ameliorate this issue. Here it is in practice (note the robots are covered with cardboard "hats" and reflective tags that enable our motion capture system to record the positions of the vehicles in real time).

Save the Bay!

The United States Naval Academy (USNA) uses a REMUS autonomous underwater vehicle as a sensor platform for research on water quality in local waters.

Originally developed at Woods Hole Oceanographic Institution and marketed by Hydroid Inc. of Pocasset Massachusetts, USNA’s vehicles were originally purchased for mine warfare and operated by Naval Special Clearance Team ONE in such operations as clearing of the Iraqi port of Umm Qasr of mines during OPERATION IRAQI FREEDOM.

This REMUS enables researchers and students to map suitable habitats for oyster restoration, crab distribution and submerged aquatic vegetation. Dissolved oxygen is one of the most important water quality parameters because it is the dominant proxy for extreme eutrofication; excess nutrient loading of coastal waters. The Severn River has been identified by the State of Maryland as an impaired waterway for multiple water quality parameters. Round Bay has consistently developed a summer-long anoxic zone (dissolved oxygen concentration less than 0.2 mg/l) for the last four years.

The Photo is from the 25 August 2010 Chesapeake Bay conference, held at USNA. In the photo is a REMUS with an oxygen sensor installed. From left to right: me, Maryland Governor Martin O’Malley, Secretary of the Navy Ray Maybus, EPA Administrator Lisa Jackson, Superintendent VADM Miller (in the back), Andrew Muller (USNA Oceanography department).