IIHR Model Quad-Ski robot
Knowledge Demonstrated
CAD Modeling
Mechanical Design
ROS Architecture for Autonomy
Arduino Programming
Python Programming
C++ Programming
RF Communication
Hardware Electronics Design
What is the Model Quad-Ski?
The IIHR Model Quad-ski (MQS) Robot was the project I undertook for the completion of my Master’s in Mechanical Engineering at the University of Iowa. The robot is a quarter scale model of the Gibbs quad-ski and is being studied at the University of Iowa’s IIHR-Hydroscience and Engineering in partnership with the U.S Naval Research Laboratory (NRL). In 2019 the first of the MQS tests were completed at IIHR’s Wave Basin facility. Upon completion of the tests upgrades were requested for the following years test that would allow for driving and steering on land, as well as semi-autonomous control. I designed both the land driving upgrades as well as wrote the architecture and code for semi-autonomous control of the robot.
Model Quad-Ski upgrades
Driving and steering upgrades to the model quad-ski
Before building the ROS architecture and writing the code for the robot, upgrades needed to be made to the model quad-ski to enable the increased control authority. Click below to explore how the design progressed from concept to prototype to add land driving and steering to the MQS robot.
Model Quad-Ski RoS
ROS & Arduino Autonomy Architecture for Amphibious Vehicles
Robot Operating System commonly referred to as ROS is an open source Unix based platform for running robot software. The model quad-ski leveraged ROS to enable increased complexity and precision of experiments conducted in the surf zone. Click below to view the presentation or read the thesis on how this system was designed, developed and tested.
