MSD I TEAM PROJECT 16250 SELF-POWERED AUTONOMOUS AQUATIC VEHICLE (SPAAV)
Jan 18, 2016
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?