Self-Powered Autonomous Surface Aquatic Vehicle

MSD ITeam Project 16250REV. BSelf-Powered Autonomous Aquatic Vehicle (SPAAV)Erika1Team Members NameRoleErika BlissIndustrial Engineer Project ManagerAndy LitzingerLead Electrical EngineerMax KelleyElectrical EngineerMatthew HaywoodElectrical EngineerZeyar WinElectrical Engineer Matt WebsterLead Mechanical EngineerTyler MalayMechanical Engineer Erika2AgendaProgress ReportProject BackgroundElectrical SubsystemsMechanical SubsystemsAlfred ExperienceSolar EnergyWind Energy Small-Scale TestingAdministrationErika3Progress ReportPicked up boatObtained solar panels from Alfred State CollegeObtained additional sponsorsElectrical subsystems determined Design for scaled-model completedCompleted research for kinematics equations Zeyar4Project BackgroundDesired State

Self-Powered Autonomous Aquatic VehicleAutonomyLong Duration MissionsEnergy HarvestingPropulsionMission/Research EquipmentCommunicationsVessel HealthMission Data

Max6Customer RequirementsCustomer Rqmt. #ImportanceDescriptionComments/StatusCR11Collect data from sensorsMust have an array of basic sensors (temperature, pressure, etc.)CR23Generate its own powerMust use renewable power sources to generate its own power (solar, wave, etc.)CR39Durable, water-tight buildMust not capsize (or be able to recover) and must have sealed electronics.CR49Capable of autonomous navigationRequired to navigate a three-waypoint course.CR59CommunicationsRequired to have a remote kill as well as live telemetry.CR63Data StorageAble to store sensor data from a mission for retrieval upon return to shore.CR71Obstacle avoidance Detect and avoid other vessels or obstacles CR89Fresh water operation (lake)Ability to operate in large bodies of fresh water such as lakes, etc.Max7Engineering Requirementsrqmt. #ImportanceSourceFunction Engr. Requirement (metric)Unit of MeasureIdeal ValueComments/StatusS13CR2System OperationPower GenerationWTBDCurrently unspecified by customer.S22CR2, CR4System OperationMinimum Autonomy Timehr6Amount of time the vessel can run at max. power consumption before stopping to recharge.S32CR2, CR4System OperationMaximum Speedm/s3May be dependent on S4.S42CR2, CR4System OperationForward ThrustN100May be dependent on S3.S53CR3, CR8System OperationMin. Wave Height Tolerancem1.5S63CR3, CR8System OperationMin. Wind Speed Tolerancem/s10S72CR4System OperationNavigational Accuracym2-3Ability to track straight-line course between two waypoints (assuming no obstacles).S83CR4System OperationPosition Accuracym1-2Accuracy of position reports via telemetry and used for navigation.S93CR5System OperationCommunication Rangekm5Includes real-time telemetry and remote kill range.S102CR6System OperationMin. Data Storage CapacityGB2S112CR1, CR6System OperationMin. Sensor Logging RateHz1Andy8Test Plans for Engineering Reqsrgmt#Functionp#PlanS1Power GenerationP1Two EE team members will benchmark solar and wind technologies, perform calculations on solar production based on the operating area of the vessel and test the energy production of the panels currently on handS2Minimum Autonomy TimeP2Once all system components are determined, the total autonomy time can be calculated based on the total load of the system and the size of the battery system.S3Maximum SpeedP3Collect GPS data points to determine average velocityS4Forward ThrustP4Attach motor to a strain gauge S5Min. Wave Height ToleranceP5Make accurate SolidWorks model of boat and perform tests using simulationS6Min. Wind Speed ToleranceS7Navigational AccuracyP7The GPS system will be built and moved to known GPS coordinates to determine the accuracy of the systemS8Position AccuracyS9Communication RangeP9The communication system will be built and taken to multiple points to determine when the system will lose communicationS10Min. Data Storage CapacityP10This is not an issue as the data storage capacity can be easily expanded as needed to meet the needs of the project.S11Min. Sensor Logging RateP11This will be tested during prototyping in hardware.Andy9Functional Decomposition

Haywood10Feasibility RevisitedQuestionOwnerMethodStart DateEnd DateCompleteHow much power can SPAAV harvest?MHScale Testing10/10/201510/18/2015NOHow much thrust do we need to propel the boat forward?MWBenchmarking10/1/201510/18/2015YESHow fast can the boat move while still obtaining reliable sensor data?EBBenchmarking9/26/20159/27/2015YESWhat is the maximum weight our boat can support?TMSOLIDWORKS Model9/24/201510/30/2015NOWhat is the maximum energy storage we can support (weight-to-power ratio)?ALBenchmarkingTBDTBDHow accurate of an absolute position can we achieve?ZWBenchmarking9/26/20159/27/2015YESHow far can we reliably communicate (TX & RX) with the boat?MKBenchmarking9/30/20159/30/2015YESMatt11How much thrust do we need to propel the boat forward?

Matt

12How far can we reliably communicate (TX & RX) with the boat?

Ubiquiti PowerBeam 620 Directional Antenna

Ubiquiti RocketM5 Ubiquiti 5GHz Omni Antenna

Max13Risk AnalysisIDCategoryRisk ItemEffectCauseLikelihoodSeverityImportanceAction to Minimize RiskOwner12EnvironmentalEnvironmental contaminationLoss of boat, loss of access to water resourcesLeaking batteries, other pieces of the boat falling into water122Make sure boat is in good running condition before performing any testsTeam for their own indivual subsystems13SocialCould become a nuisance to other boaters Loss of access to water resourcesGetting in the way, runnaway boat interferes with other boaters111Stay with the boat during any testing, make sure e-stops are all funcitonal before beginningTeam14TechnicalEnergy harvesting failure Reduction in autonomy time, may not be able to complete missionEquipment failure, software failure, 122Test energy harvesting equipment extensively before installing on boatHaywood, Andy15ResourceLack of meeting timesDelayed project task completion Lack of common availability among team members236Plan tasks on Asana, communicate with group on Slack, break-off into subgroups to allievaite scheudling conflicts, weekly project updatesErika 16TechnicalOverheatingDamage of electrical systems Heat dissapation from electronics in a sealed enclosure236Develop a cooling plan (possibly a cooling exchanger)AndyZeyar14Electrical SubsystemsTop-Level Electrical Systems Architecture

Max16Motor Controller

Haywood17Power Hub

Haywood18Sensor Hub

Max19Mechanical SubsystemsMountingT-slot Aluminum for flexible mounting solutionEasily fitted to existing structure on boatEasy to move components to achieve proper balance on boat

Tyler21Steering

Haywood22Alfred VisitAlfred ExperiencePictured (L to R): Max Kelley, Jeff Stevens, Zeyar Win, Andy Litzinger, Matt Haywood, Sean Kelley

Andy, Max24Alfred, Items on Loan30A Charge Controller

5x 20W PV Panels

2x 18W Marine Grade PV PanelsAndy25Solar EnergyAvailable Solar Insolation

Matt27GS-Star-100W Panel Specs

Matt28Ideal Power Generation Per Solar Panel

Matt29Solar Panel I-V CurveGS-Star-100W Panel

MPP Approx. = 63 WattsMatt30Wind EnergyWind Energy Consideration

Max

32Lake Ontario Wind Data

Chart taken from WINDFINDERhttp://www.windfinder.com/windstatistics/lake_ontario_buoyMatt 33NPower Wind Turbine 400 Watt, Marine Grade

http://www.northerntool.com/shop/tools/product_200481463_200481463Matt 34Wind Energy Power Curve

Matt (wind chart), Max (Alfred)35Small-Scale TestingSmall-scale boat Hulls made from high density insulation foamShaped on CNC router in The ConstructSteering components to be 3D printed from ABS plastic

Tyler37Test Plans for Small-Scale BoatStandard ship maneuvers from International Towing Tank ConferenceCircle ManeuverTurning RadiusDrift AngleSpeed LossHeel AngleKempfs Zig-Zag ManeuverEstablishes important characteristics of yaw response Response time Yaw overshootTotal period for 20 oscillationsPull-Out ManeuverDetermines if the ship is straight-line stable or not.Dieudonnes Spiral ManeuverDetermines if the vessel has a memory effect, manifested as a hysteresis in yaw rate rHaywood38Status of the boat Stored in Matt Haywoods backyardHairline crack in hull

Andy39AdministrationProjected Bill of Materials

Andy41PurchasingWhat we plan on purchasing with initial budgetMotor controller SensorsHall effect sensors Trolling motor (maybe)Supplies to repair boat

Andy turn this into talking points during the Projected Bill of Materials slide.

42Purchase Ledger

Erika43Project Plan

Erika44Next StepsObtain 45lb trolling motorObtain electrical parts for testingSensorsBuild the small-scale boat Create kinematics code Repair the boat

Erika 45Sponsors

Max include Boeing? Mention potential donation from Minn Kota 46QUESTIONS?47