Presentation

https://gtvault.sharepoint.com/:p:/s/MarineRoboticsGroup/EWfS_9vRxDxDv8X2IyXVFb8BED2Zjl9ZsUjDzyrRZxncNQ?e=lL02yc

Notes

Introduction

1. Revision history: This is the initial revision!
2. Introduction: The stinger tug is a small scale vehicle intended constructed as part of MRG training. The stinger tug is designed such that its construction and operation exercise key practical skills in robotics.
3. Purpose: The stinger tug provides a space for hands-on training
4. Scope: This document outlines the mechanical and electrical design of the tug. It proposes a software structure for the tug. It outlines the proposed project.

The Design

Requirements

1. Core Functionality: This system should be capable of basic small scale autonomy. Its construction and operation should exercise practical skills (enumerated below). It should be low-cost.
   1. Basic autonomy: Include common sensors (IMU, GPS, camera, LIDAR) and simple propulsion. The boat should be capable of navigating a simple obstacle course.
   2. Skills used during construction: MECHANICAL : laser cutter, 3d printer, CNC mill, hand drill ELECTRICAL : othermill, PCB soldering, connector soldering SOFTWARE : motor firmware, development over ssh, writing a ros node, writing a ros service, analysis with ros bag, analysis with rviz, PID control, object detection
2. Performance Metrics:
   1. Cost ($100/unit)
   2. Gross mass (2kg)
   3. Buoyancy (2cm waterline margin)
   4. Length, beam, draft (18x8x3”)
   5. Skills used (checklist above)
   6. Project time (5 wks)
   7. Ease of construction (3-4 NEW students)

Research

1. Alternative Enumeration: Small scale robots are commonly used in introductory robotics courses. The GT ROBO program’s 7785 course teaches core robotics concepts using turtlebots. Simple wheeled robots are relatively commonplace with many variants.

   

   wheeled teaching robots

   Much less common are marine teaching robots. In fact, marine robots are typically not used in teaching. Because the club is a marine robotics club, a marine teaching robot must be developed. The springer tug (not to be confused with stinger tug) is a small-scale RC boat standardized for use in competitions. The standardization of the springer removes much of the complexity of design and yields repeatable vehicles.

   

   No single alternative meets the requirements of a teaching robot AND surface vehicle. The proposed vehicle should combine the standardization aspects of the springer with the autonomy capabilities of a turtlebot to fill this gap.

Key Assumptions

• Access to tools
  • Training on tools
• Availability of “lab time”
  • Availability of “mentors”
• Availability of materials
• Access to testing site