RobotX is an international robotic vehicle competition organized by the Association for Unmanned Vehicle Systems International (AUVSI) and sponsored by the Office of Naval Research (ONR). University teams are competitively selected from six Pacific Rim countries (Australia, China, Japan, Singapore, South Korea and the United States) to participate in this prestigious competition. For the RobotX Challenge, each team is provided with a 16-ft Wave Adaptive Modular Vessel (WAM-V), which they must outfit with a range of sensors, software and hardware to facilitate on-board decision-making and mission implementation. Tasks like obstacle avoidance, navigation and object identification must be completed without human guidance, intervention or remote control.
In 2014, Villanova’s College of Engineering, together with Florida Atlantic University (FAU), were selected to compete in the inaugural RobotX Challenge, which was held in Singapore. As Team WORX, FAU managed systems engineering and low-level control portions of the project, while Villanova managed high-level control, vision-based navigation, localization and mapping. Team WORX performed extremely well in the competition, secured four prizes, and has subsequently been invited to compete in the upcoming RobotX Challenge.
In December 2016, Team WORX will head to Oahu, Hawaii to face-off against 17 other university teams in the 2016 RobotX Challenge. Team WORX was one of only seven US-based teams to be selected to compete in this exciting international competition.
Autonomy is achieved by fusing a perception package for object identification, a finite state machine for high level task scheduling, Fast-SLAM for vehicle localization, and an A* algorithm for path planning.
The vessel is controlled using a dynamic light of sight (D-LOS) trajectory tracker, a PD heading and speedcontroller, and a Back Stepping Station Keeping controller.
The onboard systems include 2 Jetson TK-1 single board computers, a Dell Precision 7000 Intel Xeon Core processor, a custom designed PCB, an Xsens MtiG-700 IMU, and an Ocean Server 5000 compass.
Team WORX’s design solution includes a gimbled cradle to enhance the Hokuyo UTM-30LX, an actuated boom to deploy the Ultra Short Base Line (USBL) acoustic targeting system, a custom built winch and cage to deploy the VideoRay Pro4 ROV, and a custom built motor mount to house coupled high torque GearWorks Servos and MinnKota thrusters.
To accomplish physical integration between the low and high level system, only a single ethernet cable is required. The centralized nature of ROS has allowed for rapid integration from a software standpoint.
Having 1000 miles between the two halves of TeamWORX demanded some alternative testing procedures. The TeamWORX WAM-V spent 134 hours on water dedicated towards this competition. An additional 50 hours were spent testing systems on SeaNoodle, Villanova’s smaller, representative USV.
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The Marine Robotics Club Volunteering initiative is driven by the need to promote robotics in a liquid environment and to educate young students about the engineering process.
Many of our members are eager to guide middle and high school level students with knowledge gained from current and past projects. Since the Club’s initiation, we have successfully
guided three school robotics programs and led teams to the regional and national Seaperch competitions. This year, we will continue our volunteering efforts to include a MATE competition team.
Our biweekly Seminar Series aims to serve as an introduction to topics that cover all aspects of engineering. We also collaborate and feature other engineering based student organizations to broaden our subject range. Seminars are open to any student and are made available online via YouTube so that anyone may view them afterwards.
Our club teams up with FAU's Human Powered Submarine Club to host local Seaperch tournaments that allow many schools, who ordinarily could not afford to bring a team to competition, to give students the opportunity to show off their skills. This year our tournament was a National Qualifier with over 30 teams attending!
We send our members out into our local community to aid students through the process of designing, manufacturing, and implementing of seaperch kits, MATE projects, and other projects teachers come up with from their scools.
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Phone: (484) 362-8463
Address: 800 E Lancaster Ave, Villanova, PA 19085