Our Latest ASV for International Roboboat Competition 2022
By using the modularity concept to the hull, a frame made of mild steel hollow is used to connect the hulls. The frame also become the deck of the ship for the component arrangement.
Designed to reduce wave disturbance and remain stable in extreme condition, Nala Theseus's hull effectively minimize rolling and pitching motion after receiving external forces.
Nala Theseus uses 3 thrusters. Two azimuth thrusters mounted on the stern and a bow thruster. With these 3 thrusters, Nala Theseus can perform pivoting, orientation-locked motion, and path following.
To ensure safety for our electrical component, we design robust waterthight system base on our wiring process so that no excess space and unnecessary opening for water to slip through while considering ease of access to our electircal components.
The power board is responsible for distributing power from batteries to each electrical component of Nala Theseus. It also equipped with battery monitoring system to prolong battery life and the ASV’ safety.
Nala Theseus’ onboard computer uses Nvidia Jetson TX2. It runs all the necessary software to control the ASV’ autonomously.
The vision system of Nala Theseus fuse information from camera and LiDAR. Objects detected on the camera frame are correlated with the LiDAR such that the objects’ types and position surrounding the ASV can be obtained.
Using a DC motor, the ball launcher of Nala Theseus was designed to resemble catapult. With a PID controller and speed and position encoder, the ball could be launched with constant launching velocity despite changes in battery voltage.
Using two pumps mounted on the bow thruster, the water blaster system of Nala Theseus could fill up the water blast tank in under 17 seconds. To aim the water, it uses the ball launcher end-effector to adjust it’s pitch angle and bow thruster to adjust yaw.