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Welcome to the official website of TRAMOLA.

THIS IS TRAMOLA

TRAMOLA is an Unmanned Surface Vehicle (USV) project by the H-MECH Engineering society. Here is all the information about the project.

About Us

Team Tramola is an eight-member multidisciplinary group of students from Hacettepe University and METU, proudly representing Turkey on the international stage. Our team includes specialized units in mechanics, electronics, software development, and marketing. With disciplined work and an innovative perspective, we strive to achieve top performance in the competition and elevate our collective knowledge to the next level.

Meet the Units

Here is our units that will carry us to success. Our team consists of four units. You can scroll down for detailed information about the units.

Mechanical Unit

Our bot has been specifically designed to overcome challenges it may encounter in the race area and to alleviate the workload of other units within the team. Our vehicle features a miniature catamaran structure, consisting of two main hulls joined by plexiglass, measuring 90 cm in length and 60 cm in width.

Software Unit

The unmanned maritime vehicle named Tramola was designed to autonomously navigate and adapt to environmental conditions. The project's main computer is a Jetson Nano, which manages all software controls for the vehicle. A Pixhawk was integrated for speed and motor control, and data from sensors like GPS and IMU were processed through the Pixhawk.

Electronics Unit

The electronic unit of the Tramola unmanned surface vehicle is responsible for performing power calculations, power distribution, and managing the generation and packaging of the power supply necessary for the operation of the vehicle's computer, control board, and motors. Additionally, it supports the use of various sensors and facilitates communication between these sensors.

Marketing Unit

The design and management of the website, along with the establishment and content management of social media accounts such as Facebook, Instagram, X, and LinkedIn, are being handled.

Electronics Unit

The electronic unit of the Tramola unmanned surface vehicle is responsible for performing power calculations, power distribution, and managing the generation and packaging of the power supply necessary for the operation of the vehicle's computer, control board, and motors. Additionally, it supports the use of various sensors and facilitates communication between these sensors.

The Jetson Nano 4GB was selected as the onboard computer due to its image processing capabilities and high performance. For image processing, the Dexim v28 Webcam was chosen.

As the control board, Pixhawk was preferred for its precision in control and navigation tasks.

For the propulsion system, brushless motors were selected for their high efficiency. To meet the high starting torque requirement, motors with a 500kV rating were used.

The motors will be controlled using the Blu30A ESC. This ESC was chosen for its high current limit and its ability to operate bidirectionally.

Electrical system diagram.

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Power Distribution Card

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Power distribution is managed via a custom-designed power distribution board created by our team. This board includes a 5V 3A output for the Jetson Nano and a total of four main outputs. Two of these outputs are allocated for the vehicle’s motors, one is reserved for the water motor, and the final one is left as a spare.

The Control System

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Since Tramola consists of two torpedoes, the battery was split to maintain balance. Each torpedo contains four series-connected LiFePO4 batteries, resulting in a system with 4 series and 3 parallel connections, providing a total energy capacity of 12.8V - 18000mAh.

Software Unit

The unmanned maritime vehicle named Tramola was designed to autonomously navigate and adapt to environmental conditions. The project's main computer is a Jetson Nano, which manages all software controls for the vehicle. A Pixhawk was integrated for speed and motor control, and data from sensors like GPS and IMU were processed through the Pixhawk.

The Jetson Nano not only handled image processing but also enabled the vehicle to perform environmental analysis and make autonomous decisions. Data from the camera was processed in real-time on the Jetson Nano. ROS Melodic was used to facilitate communication between different parts of the software, enabling seamless connection between the Jetson Nano and Pixhawk via MAVROS. Additionally, the Jetson Nano was connected to a ground station via WiFi, allowing data exchange and remote control of the vehicle.

The YOLOv4 algorithm, part of the open-source deep learning framework Darknet, was utilized for image processing. Darknet was chosen as a fast and efficient object detection tool. After processing the visual data, this information was used in decision-making algorithms to achieve autonomous control of the vehicle.

NVIDIA's parallel computing platform, CUDA, and TensorRT technologies, embedded in the Jetson Nano, played a significant role in accelerating deep learning models. These technologies made it possible to run complex models like YOLOv4 in real-time on the Jetson Nano.

Mechanical Unit

A-Hull Design: During the hull design process, various types of vessels were thoroughly analysed, and their advantages and disadvantages were compared. Considering the challenges and methods of the production process, the team opted for a catamaran hull design. The primary reason for selecting the catamaran hull was its ability to provide high stability on the water surface, ensuring smooth and steady movement of the vehicle.

The length-to-width ratio was determined by analysing data obtained from various manufacturers, and the dimensions were optimized to maintain performance without compromise. Another critical factor supporting the catamaran choice was the relatively easier and more efficient production process. The hull structures were individually designed and manufactured using 3D printers with PLA filament. PLA filament was chosen primarily because it is naturally derived, environmentally friendly, and offers a sustainable option

Hull Design

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Hull Dimensions

Overall length

Hull Dimensions

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Fins

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Using this production method, the 12-piece hull was assembled with epoxy material and sealing equipment, minimizing material waste and embracing an eco-friendly manufacturing approach. The two main hulls were joined with aluminium connectors, on top of which a box containing all the vehicle's electronic components was placed. Additional measures were taken in the design of the catamaran hull to enhance stability during turns and minimize the risk of capsizing.

Fins were placed under the hull to ensure more balanced and secure movement on the water. The cross-sectional areas of these fins were meticulously analysed, and the NACA-0006 profile type was selected. The choice of this profile considered the boat’s dimensions, load capacity, manoeuvrability, and performance criteria. Through comprehensive analyses and flow tests, it was determined that this profile enhances stability and optimizes hydrodynamic performance

Consequently, an ideal structure was achieved in terms of performance and efficiency during the design and production phases.

B-Thruster Design: During the motor selection process, the vehicle's weight, dimensions, and speed requirements for the competition were carefully considered. Brushless motors were chosen for their ability to deliver high power with minimal efficiency loss. In addition to their efficiency, brushless motors are known for their durability and longer lifespan. The technical specifications of the brushless motors were thoroughly examined, and a motor with a higher capacity than the required power was selected. This strategy aimed to limit the motor's output, preventing overheating and minimizing performance losses caused by heat. This approach ensured the motors operated more reliably and had a longer lifespan.

The motors were symmetrically mounted at the rear of the hull, with one positioned on the right and the other on the left. The vehicle's right and left turns were achieved through power control applied to the motors. In this method, reducing or completely cutting power to one motor allowed the vehicle to change direction. This mechanism enhanced the vehicle's manoeuvrability while offering a simple and effective control solution.

The Motor Case

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Aliminum Pipe Holder

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Propeller

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To generate thrust, 12 cm diameter, three-blade propellers were attached to the output shafts of the motors. To prevent energy loss, no transmission components were used; the propellers were directly mounted on the motor shafts. The propellers were specifically designed, considering the water’s inflow and outflow directions, and were manufactured using 3D printers. This production method reduced costs while ensuring the propellers were made to meet the design requirements.

To enable both forward and backward motion, bi-directional ESCs (Electronic Speed Controllers) were integrated with the motors. These ESCs allowed the motors to operate in reverse, increasing the vehicle's mobility and flexibility during tasks.

Thanks to the design and integration process, the vehicle's propulsion system achieved an optimal balance of performance, efficiency, and durability.

C-Ball and Water Launching Mechanisms: The ball-launching mechanism was designed with simplicity and functionality as the primary focus. The mechanism consists of a hopper that can hold three balls, a lid to release the balls into the barrel, two launching discs, and a 40 cm long barrel. When the hopper's lid opens, a ball falls into the barrel and is positioned between two discs powered by DC motors. These discs, rotating in opposite directions, propel the ball forward with significant force. The 40 cm barrel ensures that the ball is launched accurately toward the intended target.

The hopper is carefully designed to allow seamless ball transfer into the mechanism, minimizing the risk of jamming or misalignment. The speed of the rotating discs can be adjusted to suit various distances, providing flexibility for different scenarios. This simple yet effective approach reduces mechanical complexity while enhancing reliability and performance.

Parts of Throwing System

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The Motor Case

The Other Side of the Motor case

The Motor Case

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The water-launching mechanism, on the other hand, consists of a DC water pump, plastic tubes, and a specially designed nozzle. The pump draws water from the lake and delivers it through the tubes to the nozzle in the vehicle's aiming system. The nozzle operates based on Bernoulli's principle, narrowing the cross-sectional area through which the water flows to increase its velocity. This design allows the water to reach longer distances effectively.

Both mechanisms were designed with practicality and reliability in mind. The ball-launching mechanism provides a straightforward solution for accurate targeting and precise shots, while the water-launching mechanism combines fluid dynamics with robust components to deliver high performance over long distances. This holistic design approach ensures that the vehicle is versatile, efficient, and capable of adapting to various operational scenarios.

Marketing Unit

Our primary goal as the Marketing Unit is to ensure that TRAMOLA stands out as a high-quality, recognizable, and professional brand. We achieve this through the establishment and management of social media accounts, content creation, and web design.

Social media management and content production primarily aim to promote the device and serve as a powerful advertising tool. On the other hand, our website design caters to a more professional audience by providing a platform for companies and individuals who want detailed information about the device. The website is designed to include clear, comprehensive, and precise technical specifications, ensuring easy access to critical information. This approach is particularly beneficial when participating in competitions, where presenting a thorough understanding of the device is essential.

The Portfolio

This section includes photos and videos of the device and our team members.

History of The Device

Our vehicle was designed and produced by the Tramola team. During the production of the vehicle, some problems arose due to the team's first year and were solved in order. The production of the vehicle took a total of 3 months and followed the chronological order below.