P16250: Self-Powered Autonomous Aquatic Vehicle
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Subsystem Design

Table of Contents

Team Vision for Subsystem-Level Design Phase

The main items to be completed during this phase were:

We accomplished everything that we had set out to do, except for repairing the trolling motor. The trolling motor that is currently in our possession is a 30 lb thrust motor. Due to analyses conducted during this phase, we've decided to use a 45 lb thrust motor and wait to conduct any test involving the trolling motor until the 45 lb thrust motor is in our possession.

We obtained the boat, but at a later date than anticipated. This pushed back the deadline of a couple of activities, such as measuring the boat and accurately modelling the floats in CAD.

Test Plans for Engineering Requirements

 Test Plans

Test Plans

Proposed Budget

Initial Budget

Initial Budget

Alfred Experience

Pictured (L to R): Max Kelley, Jeff Stevens (Department Chair), Andy Litzinger, Matt Haywood, Sean Kelley (Instructor)]]

The SPAAV Electrical Engineering team spent a Friday at the Alfred State College School of Applied Technology in Wellsville, NY where they gained some first hand knowledge of the implementation of Solar and Wind hybrid systems. While there, they met with subject matter experts Jeff Stevens (Electrical Construction and Maintenance Electrician, Department Chair) and Sean Kelley (Electrical Construction and Maintenance Electrician, Instructor) about the implementation of Solar as well as Wind technology in the SPAAV project.

While at Alfred state the team was able to see multiple implementations of Solar and Wind applications that are in use around the Alfred State Campus as well as tour their laboratory spaces.

 Solar and Wind Hybrid System

Solar and Wind Hybrid System

Status of the Boat

Test Plan for Small-Scale Boat

These test will help identify the hydrodynamic coefficients.

Feasibility Re-visited

 Feasibility Re-visited

Feasibility Re-visited

We revisited two questions during this phase. Changes from last phase are shown in bold.

How much thrust do we need to propel the boat forward?

 Recommended Thrust based on Boat Weight and Size

Recommended Thrust based on Boat Weight and Size

We benchmarked against a project that used two 30-lb thrust motors that operated on a calm lake. We decided upon using two 45-lb thrust motors because we will be operating in a larger, less-calm body of water.

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

 Benchmarked Communication Systems

Benchmarked Communication Systems

Electrical Subsystem Design

A link to the Interactive Subsystem Design can be found here Electrical Subsystems Architecture

Mechanical Subsystem Design

Steering

We created an animation of the type of steering system we want to use--Parallel Linkage Steering.

Steering Animation - Solidworks

Mounting

We've decided to use T-slot Aluminum for our mounting solution. It was chosen because it is easy to move components to change the weight distribution of the boat. It is also modular and can be easily mounted to the existing structure of the boat.

Small-Scale Model of SPAAV

We've decided to create a small-scale model of the boat to aid us in developing the dynamic model of the full-size boat. The model will be made from high density insulation foam for the hulls and 3D printed ABS for the steering and propulsion components.
 Small-scale model of SPAAV

Small-scale model of SPAAV

Solar Energy

 Insolation Plot

Insolation Plot

 Solar Panel Specs

Solar Panel Specs

IV Curve

IV Curve

 Solar Plot

Solar Plot

Wind Energy

Wind Energy Power Curve

Wind Energy Power Curve

Bill of Materials (BOM)

Bill of Materials

Bill of Materials

Link to the live document: Bill of Materials - Excel

Risk Assessment

Addition of Risk 16

Addition of Risk 16

Link to the live document: Risk Assessment - Excel

Subsystem Level Design Review

Subsystem Level Design Review notes

Plans for next phase

For us, this phase will focus on further characterizing our subsystem level components

Below is a screenshot of our project schedule that focuses on the upcoming weeks.

Schedule for Preliminary Detailed Design Review phase

Schedule for Preliminary Detailed Design Review phase

A link to the live project schedule can be found here Project Schedule - MS Project file

In summary, the key items for our team to accomplish this portion are:


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