Vibration energy harvesting

rip.eng.hawaii.edu

filament length [mm] 10 4

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5Type 3 Fracture Stress vs. Filament Length

Utility scale ocean energy harvesting, energy storage,

and desalination Unmanned X Systems

Precision Optical Systems

Precision manufacturing, increased efficiency electric armatures

Cost-conscious robotics and AutomationAdditive Manufacturing

Precision machine design

Presenter

Presentation Notes

This work is partially funded by ONR through the ARL and ONR directly. 1. ARL , 6104884, Energy Efficient Environmentally Compliant Unmanned Vessels, $100,000, 2 years 2. ONR, GRANT 12308853, Energy Efficient Environmentally Compliant Unmanned Vessels, $90,596, 1 year

3

UXS Core Challenges

Incr

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Hardware InteroperabilityHow shall I “think” and communicate?Sensor and Actuator SelectionHow shall I perceive and interact with the environment?Sensor Fusion and Signal ProcessingHow shall I interpret noisy & incomplete sensor data?Guidance, Control and Path PlanningHow shall I command my motion? Mission Planning and AutonomyHow shall I decide what to do next?

The study and application of mobile robotics and unmanned systems can be categorized as follows:

To validate novel research contributions to any single domain, researchers are challenged with operationally developing all five domains to a minimum level of operation. An unmanned “system” developed to this level can be called a “core competency” system.

Refin

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Coupling is common!

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Primary Surface Platform

Wave Adaptive Modular Vessel (WAM-V) Modifications• 220 lb holonomic propulsion system (electric) for full 3 degree-of-

freedom motion.• ~5900 Wh lithium polymer battery for >2.5 hours energy

endurance of normal operation. Manually swappable (<5 minutes).

• Mission-adaptable instrumentation, including GPS, inertial measurement, light detection and ranging (LiDAR), camera/vision.

• Robot Operating System (ROS) publish & subscribe software; Matlab mission planner (other languages supported).

• Wireless (2.4 GHz) communication for manual takeover, goal communication, and diagnostic data link.

Capabilities• Visual/LiDAR-based SLAM (simultaneous localization and

mapping), for obstacle detection and avoidance. • Unfused visual positional precision of 2.5m (2deg heading).

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Current Work

Modular “node”-based software & hardware integration• Open source ROS (Robot Operating System) publish and subscribe

architecture with swappable software “nodes”.• Modular, water-resistant, hardware mounting system, for use of any

desired configuration of sensors and instrumentation.Omni-scopic vision• Obstacle detection and avoidance, feature identification and tracking,

and 3D object reconstruction.• Alternative to cost-prohibitive LiDAR-based solutions.Improved sensor fusion filtering techniques• Augmenting direct state measurement with state estimation for non-

measureable state information, noisy, and incomplete sensor data.• Adaptable to an arbitrary number, and class of sensors.Over-actuated (holonomic) propulsion• Control schemes, optimizable for efficiency, maneuverability, speed, etc.ROV/AUV integration• For surface, and sub-surface monitoring and manipulation. • Standalone underwater systems for rapid-response underwater 3D

object reconstruction.

Angle [deg] vs. Distance [m]

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Angle [deg] vs. Signal Intensity [bit]

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Angle [deg] vs. Distance [m]

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Angle [deg] vs. Signal Intensity [bit]

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Research Goals

Sensor fusion for localization• Operation in GPS-Denied Environments• Non-conventional sensor fusion• Benchmarking state estimation plants and methods

Cost-conscious robotics• Omni-scopic visual scanning (point cloud)• Solid-state LiDAR

Energy efficient surface/subsurface vehicles• Renewable energy integration• Over-actuated, energy-optimized propulsion

Swarm Robotics• Cooperative localization• Multi-domain robotics• Autonomous reconfiguration and motion• Coordination• Implicit, decentralized autonomy

For more info:

rip.eng.hawaii.edu