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"TURTLE"
We’ve named our unmanned surface vehicle Turtle! Why, you ask? You might think we chose this name because it evokes the seas and oceans, or perhaps because it’s an iconic symbol of ROS software. But the real reason? It’s much harder to guess than you might imagine! The truth is, the name Turtle comes from an inside joke shared among our team, something that developed during the early stages of this project. Curious to learn the full story behind this fascinating name and dive into the details of what makes our creation so special? Scroll down to discover more about the incredible journey of Turtle!
Our team’s Turtle name comes from a legendary Ottoman painting called "The Turtle Trainer." But why this name, you ask? Well, when our team’s very first boat was built and all the components were carefully placed and ready to move, it could only be controlled manually—there was no autonomous feature. The team member responsible for the software and algorithm design spent countless sleepless nights, pouring every ounce of effort into making the vehicle autonomous, tirelessly working to "train" it into functioning on its own. After one particularly grueling, long night filled with intense focus, the other members, with a mix of admiration and humor, dubbed him the "Turtle Trainer." It was a name that would forever capture the spirit of perseverance and dedication!
The Turtle Trainer is a masterpiece created by Osman Hamdi Bey in 1906 and is considered one of the most important works in Turkish art history. The painting depicts an elderly man dressed in a red robe, holding a ney (a traditional flute), and patiently attempting to train the slow-moving tortoises around him. This scene serves as a metaphor for the modernization efforts of Ottoman society and the challenges faced during this process. The turtles symbolize the slow pace of societal change and the strong adherence to traditions, while the man represents a leader or intellectual figure guiding this transformation with patience and determination. Through this work, Osman Hamdi Bey not only offers a critique of society but also skillfully blends Western painting techniques with imagery unique to Ottoman culture, creating a powerful connection between East and West. The central message of the painting is that progress and innovation are only achievable through perseverance and steadfast effort.
In conclusion, the old Ottoman painting and the USV created by Özden share the same idea: patiently "training" (whatever a dataset or some turtles) and maintaining a continuously progressive mindset!
Turtle Unplugged: The Design Beneath the Shell
Hull Design
The unmanned maritime vehicle, offering high stability and safe navigation, was designed as a catamaran type using Rhino3D. The hulls, manufactured in two parts for ease of transport and maintenance, each part of the ship 3D printed by ABS flaments and coated with fiberglass. Parts are joined via bolts and sealed for water resistance. Alluminium profiles connect the hulls, with sealed compartments housing electronics and navigation aids securely mounted on the profiles.
CAD of Turtle boat
Ball-Throwing Mechanism
The ball-throwing mechanism was designed using SolidWorks 2023 software and 3D-printed with PET-G and ABS filaments. The design strategy behind the mechanism was based on the principle, 'The simpler the mechanism, the more efficient it is.' Following this approach, the mechanism was designed to allow a ball to fall between two rotating plastic components, which squeeze the ball, propelling it forward. The magazine-like structure is intended to hold the balls in place. This structure is rotated by a stepper motor, which turns it 120 degrees when the image processing algorithm sends a command. This action causes the ball to fall through the S-shaped structure. As the ball reaches the end of the structure, it is compressed by the two rotating plastic components. This process transforms elastic potential energy into kinetic energy, propelling the ball toward the designated target.
Water Spraying Mechanism
The water spraying mechanism consists of two main components: a water pump and a nozzle. The water pump and nozzle used in the sprayer is the type typically found in car windscreen systems.
The Code Beneath the Shell
Software Design
The algorithm driving our boat enables it to autonomously return to its initial drop-off point. The process begins by plotting the starting location, which serves as a reference for its journey. As the USV navigates through the competition area, objects within its environment come into view of its onboard camera. These objects are detected and classified in real-time using advanced image processing techniques. The classification of these objects triggers specific task-oriented algorithms, allowing the USV to recognize and execute mission objectives one by one. Once all tasks are completed, the USV navigates back to the originally plotted location, completing its autonomous cycle.
