MSD I

TEAM PROJECT 16250

SELF-POWERED AUTONOMOUS AQUATIC VEHICLE (SPAAV)

Agenda Team Introduction Project Background Concept Selection Systems Architecture Feasibility Analysis Test Plan Risk Analysis Next Steps Budget Questions?

Team Members

Name Role

Erika Bliss Industrial Engineer – Project Manager

Andy Litzinger Electrical Engineer – POC for Customer

Max Kelley Electrical Engineer

Matthew Haywood Electrical Engineer

Zeyar Win Electrical Engineer

Matt Webster Mechanical Engineer

Tyler Malay Mechanical Engineer

Project Background

Project Motivation

Recognized need for affordable, self-powered autonomous platformMissing Malaysian Air flight MH370Body RecoverySeafloor mappingMarine population monitoring

Current State

Significant amount of manpower required for current solution

Non-renewable resources used for power source Daytime only operation

Desired State

Self-Powered Autonomous Aquatic VehicleAutonomy

Long Duration MissionsEnergy Harvesting

PropulsionMission/Research Equipment

CommunicationsVessel HealthMission Data

Customer Requirements

Customer Rqmt.

#

Importance

Description Comments/Status

CR1 1 Collect data from sensorsMust have an array of basic sensors (temperature, pressure, etc.)

CR2 3 Generate its own powerMust use renewable power sources to generate its own power (solar, wave, etc.)

CR3 9 Durable, water-tight buildMust not capsize (or be able to recover) and must have sealed electronics.

CR4 9 Capable of autonomous navigation Required to navigate a three-waypoint course.

CR5 9 Communications Required to have a “remote kill” as well as live telemetry.

CR6 3 Data StorageAble to store sensor data from a mission for retrieval upon return to shore.

CR7 1 Obstacle avoidance Detect and avoid other vessels or obstacles

CR8 9 Fresh water operation (lake)Ability to operate in large bodies of fresh water such as lakes, etc.

Engineering Requirements

rqmt. #Importanc

eSource Function

Engr. Requirement (metric)

Unit of Measu

re

Ideal Value

Comments/Status

S1 3 CR2 System Operation Power Generation W TBD Currently unspecified by customer.

S2 2 CR2, CR4 System Operation Minimum Autonomy Time hr 6 Amount of time the vessel can run at max. power consumption before stopping to recharge.

S3 2 CR2, CR4 System Operation Maximum Speed m/s 3 May be dependent on S4.S4 2 CR2, CR4 System Operation Forward Thrust N 100 May be dependent on S3.

S5 3 CR3, CR8 System Operation Min. Wave Height Tolerance m 1.5 

S6 3 CR3, CR8 System Operation Min. Wind Speed Tolerance m/s 10 

S7 2 CR4 System Operation Navigational Accuracy m 2-3 Ability to track straight-line course between two waypoints (assuming no obstacles).

S8 3 CR4 System Operation Position Accuracy m 1-2 Accuracy of position reports via telemetry and used for navigation.

S9 3 CR5 System Operation Communication Range km 5Includes real-time telemetry and remote kill

range.

S10 2 CR6 System Operation Min. Data Storage Capacity GB 2 

S11 2 CR1, CR6 System Operation Min. Sensor Logging Rate Hz 1  

Functional Decomposition

Concept Selection

Design Constraints

Considered Concepts

Functions Concept 1 Concept 2 Concept 3 Concept 4 Concept 5

Store Power Deep-Cycle Marine Battery Super Capacitors LiPO NiMH Battery LiPO

Plan Trajectory Potential Field Grid Based Sampling Based Potential Field Sampling Based

Harvest Power Solar Panel Wind Turbine Solar Panel Wave Energy Generation Solar Panel

Generate Thrust Trolling Motors Trolling Motors Dolphin Kick Paddle Wheel Fan (Swampboat)

Steer Boat Rotate Motors Differential Thrust Water Jet Bow Thrusters Rudder

Transmit Data ARM microcontroller ARM microcontroller FPGA ARM microcontroller FPGA

Aggregate Sensor Data RF modem Bluetooth Cellular XBee RF Modem

Selection Criteria

Total cost Solution Feasibility Time to Implement Total Power Consumption/Harvesting Total Weight Durability Complexity

Pugh ChartFunctions Concept 1 Concept 2 Concept 3 Concept 4 Concept 5

Store power   -1 -1 -1 -1

 Deep Cycle Marine

BatterySupercapacitors LiPO NiMH Battery LiPO

Plan Trajectory   0 0  0 0

  Potential Field Grid BasedSampling

BasedPotential Field Sampling Based

Harvest power   -3 0 -4 0

  Solar Panel Wind Turbine Solar PanelWave Energy Harvesting

Solar Panel

Generate thrust   0 -4 -2 -2  Trolling Motors Trolling Motors Dolphin Kick Paddle Wheel Fan (Swampboat)

Steer boat   6 -4 -2 0

  Rotate MotorsDifferential

ThrustWater Jet Bow Thrusters Rudder

Transmit data   -1 -2 0 0  RF Modem Bluetooth Cellular XBee RF Modem

Aggregate Sensor Data   0 -2 0 -2

  ARM microcontrollerARM

microcontrollerFPGA

ARM microcontroller

FPGA

TOTAL: 1 -13 -9 -5

Selected Concept

Catamaran

3x100W Solar Panels

Waterproof Electronics Enclosures

2x DC Trolling Motors

Concept Feasibility

Systems Architecture

Feasibility Analysis

Question Owner MethodStart Date End Date

Complete

How much power can SPAAV harvest? MH Scale Testing10/10/201

510/18/201

5NO

How much thrust do we need to propel the boat forward? MW MATLAB Sim. 10/1/2015 TBD NO

How fast can the boat move while still obtaining reliable sensor data?

EB Benchmarking 9/26/2015 9/27/2015 YES

What is the maximum weight our boat can support? TM MATLAB Sim. 9/24/2015 9/27/2015 YES

What is the maximum energy storage we can support (weight-to-power ratio)?

AL Benchmarking TBD   TBD

How accurate of an absolute position can we achieve? ZW Benchmarking 9/26/2015 9/27/2015 YES

How far can we reliably communicate (TX & RX) with the boat? MK Benchmarking 9/30/2015 9/30/2015 NO

What is the maximum weight our boat can support?

How accurate of an absolute position can we achieve?

  GPS brand Accuracy 

Global Sat BU 353 10m

 

Global Sat ND 105C micro USB 3m

 

Global BU 353S4 2.5m

 

Global Sat BT821 3m

 

Canmore GT730F 2.5m

Risk Analysis

ID Category Risk Item Effect Cause

Likelihood

Severity

Importance

Action to Minimize Risk Owner

1 TechnicalHole in the boat could cause it to sink Loss of boat

hull fatigue, crash of vessel, improper launch procedure 2 3 6

Inspect hull, test hull, supervise all testing, remote kill switch Tyler, Max

2 TechnicalWater gets to electrical components

Possible or permanent electrical malfunciton, erratic operation of boat

Improper enclosure sealing, condensation 2 3 6

Conformal coating of circuit boards

EE team members

3 Technical Loss of propulsion controlDead in the water, run-away boat

Water ingress, motor burns out, propeller entanglement, algorithm error 2 3 6

Watchdog timer on motor controller, wireless e-stop, deadman switch Andy, Matt

4 Technical Unable to overcome waves

Boat doesn't move, boat will be pushed off course, boat will capsize, boat won't be able to complete mission

undersized motors, abnormal weather conditions 1 2 2

Proper motor sizing, proper boat configuration Matt

5 Resource Lack of water access Unable to test prototype

Frozen lakes, no one willing to let us use pool 2 3 6

Contact facility reservations manager for RIT pool by 9/26 Erika

Risk Analysis

ID Category Risk Item Effect Cause

Likelihood

Severity

Importance

Action to Minimize Risk Owner

6 ResourceWeather prevents prototype testing

Unable to test prototype in real-life conditions

Frozen lakes, thunderstorms 2 2 4 Look for indoor testing facilties Erika

7 ResourceNot having enough financial sponsors

Will not have components for SPAAV

We have not reached out to companies or there is lack of interest in the project. 2 3 6

Reach out to many companies as possible, look for research grants related to the field, reassess budget, reduce scope Team

8 Safety Run-away boat

Physical damage to boat, risk to other boaters

Water damage, algorithm error, failure of remote control device 1 3 3

Lots of testing prior to open-water tests, Max

9 SafetyInjury to team when launching

Delays in testing and building time

Improper launch procedure 1 2 2 Attentiveness around water Team

10 Safety Electric shock

Possible injury to team, could destroy boat electronics

Improper enclosure sealing, bad wiring 1 3 3

Double check all wiring and enclosures before beginning any tests Andy

Risk Analysis

ID Category Risk Item Effect Cause

Likelihood

Severity

Importance Action to Minimize Risk Owner

11 Safety Battery explosion

Injury to team or bystanders, loss of batteries, damage to boat

Improper wiring, bad battery maintainence 1 3 3

Monitor batteries, double check all wiring before tests Andy

12Environmental

Environmental contamination

Loss of boat, loss of access to water resources

Leaking batteries, other pieces of the boat falling into water 1 2 2

Make sure boat is in good running condition before performing any tests

Team for their own indivual subsystems

13 SocialCould become a nuisance to other boaters

Loss of access to water resources

Getting in the way, runnaway boat interferes with other boaters 1 1 1

Stay with the boat during any testing, make sure e-stops are all funcitonal before beginning Team

14 Technical Energy harvesting failure

Reduction in autonomy time, may not be able to complete mission

Equipment failure, software failure, 1 2 2

Test energy harvesting equipment extensively before installing on boat

Haywood, Andy

15 Resource Lack of meeting timesDelayed project task completion

Lack of common availability among team members 2 3 6

Plan tasks on Asana, communicate with group on Slack, break-off into subgroups to allievaite scheudling conflicts, weekly project updates Erika

Project Plan

Next Steps

Pick up boat

Repair trolling motor for testing

Obtain solar panels from Alfred State College

Obtain additional sponsors

Begin subsystem prototyping and testing proof of concept

Test PlanSolar Harvesting

Ensure solar panels are working Simulate possible amount of solar energy to harvest

Calm water

Non-calm water

Evaluate different sensors

GPS accuracy Test several fixed locations

Tracking errors from predetermined course

IMU Bread-boarding Check sensor’s usability for functional needs

Navigation Testing

Simulate Coupled/Independent motor steering

Calm Water

Non-calm water

Small Scale Pool Testing Collect sensor data

Navigation to endpoints

Boat Assessment

Leaks Place boat in water – Black Creek stream or RIT Pool

Structural Integrity Visual inspection

Apply small structural forces

Weight Use large weight scale – Scrap yard

BudgetProjected Budget

Item Description Price Qty. Units Total

Lithium Battery 12V 180A Lithium Boat Marine, RV Solar Battery with BMS and Charger $

1,332.00 2 ea $

2,664.00

Trolling Motors MinnKota Endura C2 45-lb Thrust with 36" shaft $

179.99 2 ea $

359.98

Rack System 80/20 Aluminum T-Slotted Framing; single profile extrusion $ 61.94 10 10ft

$ 619.40

Hardware T-Slot fasteners $

100.00 1 lot $

100.00 Power Connectors Watertight connectors

$ 500.00 1 lot

$ 500.00

Cable Electrical; Data & Power $

500.00 1 lot $

500.00

Electronics Printed Circuit Boards (PCBs) and components $

2,000.00 1 lot $

2,000.00 Communications Point-to-point WiFi link

$ 250.00 1 ea

$ 250.00

Sensors   $

300.00 1 lot $

300.00

GPS Global Postioning System $

400.00 1 ea $

400.00

Misc Contingency $

500.00 1 ea $

500.00

        Total: $

8,193.38

QUESTIONS?