uc santa cruz, autonomous systems lab ion gnss+ 2013, nashville, tn the seaslug a low-cost mobile...
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB
ION GNSS+ 2013, Nashville, TN
The SeaSlug
A low-cost mobile marine sensor platform
Presenter: Bryant MairsCo-authors: R. Curry, G. Elkaim
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Research question
How can data sampling of the ocean surface be improved?
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Why this specifically?
Already a focus of oceanographers Point of concentration Medium of exchange
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Current problems
Cost Humans
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Primary Goals
1. Modular system allowing for diverse payloads2. High endurance & mobility3. Low upfront & operational costs
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Secondary Goals
1. Easy & simple to maintain2. Usable by scientists3. Solve the “surface vessel platform” problem
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Existing systems
Academic Charlie USV OASIS
Commercial Wave glider
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Existing systems
Academic Charlie USV OASIS
Commercial Wave glider
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Existing systems
Academic Charlie USV OASIS
Commercial Wave glider
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Our solution: The SeaSlug
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System overview
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System schematic
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Development workflow
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Remote groundstation interface
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L2+ Control
Form of pursuit guidance
Gain based on look-ahead time
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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L2+ on an ASV
)arctan(2v
Lacmd
L
v )tan(
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Test results
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Test results
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UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN
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Endurance
13 hours at 1m/s speed
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Cost
Less than 2 days equivalent ship time:< $40k
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Future work
Improved vehicle model and attitude estimation Energy scavenging Collision avoidance
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Questions