P16250: Self-Powered Autonomous Aquatic Vehicle
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Systems Design

Table of Contents

Team Vision for System-Level Design Phase

Summary:

Our team used this time to generate concepts using the tool given to us in class (Morphological Chart) and followed a structured decision making process to select the best concept. We additionally planned to develop a systems architecture and begin developing solutions to our proposed feasibility questions.

All of the above plans were achieved, except for the completion of the feasibility questions.

Functional Decomposition

SPAAV Functional Decomposition

SPAAV Functional Decomposition

Link to the live document: SPAAV Functional Decomposition - Visio

Benchmarking

Benchmarking Parameters

Projects to Benchmark

P16250 Benchmarking
Benchmark SCOUT (GoTransat.com) MIT SCOUT ENSIETA Squirtle
Power Generation solar-charged, lithium iron phosphate batteries N/A Li-Po (future plans for solar) Solar 240 Watts, 12V gel electrolyte lead acid batteries
Propulsion Method Electric trolling motor Electric trolling motor Sailing (two rudders) 2 DC Motors 13.6 Kilogram-force of static thrust each
Positioning Method 1 GPS receiver, and telemetry data GPS and compass GPS RX (EB-85A), HMC6352 compass, CV7 ultrasonic anemometer? IMU & 2 GPS. 1 on board 1 on base station
Vessel Structure a custom carbon fiber hull with a Divinycell foam core A canoe 1.2m long custom fiberglass hull with keel, sail mast, etc. a catamaran built from two kayak hulls adjoined by a structure of aluminium profiles
Communication Systems Iridium satellite constellation Wi-Fi & RF module Adeunis ARF53 HF modems (no subscription, long dist.), IRIDIUM modem or SPOT messenger high speed Wi-Fi for main long range Xbee for critical connection
Vessel Control System (Brain) 2 Arduino microcontrollers Arduino and computer PIC18F2550, perhaps GSM phone in future (Neo Freerunner) for WiFi, BT, GSM, accelerometers, and embedded Linux (Debian). ODROID-X2 quad-core ARM @ 1.7GHz for processing & Arduino for motor control

Other Comments

ENSIETA

Concept Selection

Morphological Chart

Morphological Chart

Morphological Chart

Concept Development

Pugh Chart

Pugh Chart

Selection Criteria

  1. Total cost
  2. Solution Feasibility
  3. Time to Implement
  4. Total Power Consumption/Harvesting
  5. Total Weight
  6. Durability
  7. Complexity

Concept Selection

Store power concept

Store power concept

Plan trajectory concept

Plan trajectory concept

Harvest power concept

Harvest power concept

Generate thrust concept

Generate thrust concept

Steer boat concept

Steer boat concept

Transmit data concept

Transmit data concept

Aggregate sensor data concept

Aggregate sensor data concept

The link for document is below.

MorphChart

Systems Architecture

 Systems Architecture

Systems Architecture

Feasibility: Prototyping, Analysis, Simulation

Feasibility Questions

  1. How much power can we generate? -Matt H.
  2. How much thrust do we need to propel the boat forward? - Matt W.
  3. How fast can the boat move while still obtaining reliable sensor data? - Erika
  4. What is the maximum weight our boat can support? - Tyler
  5. What is the maximum energy storage we can support (weight to power ratio)? - Andy
  6. How accurate of an absolute position we can achieve? - Zeyar
  7. How far can we reliably communicate with our boat? - Max

Means of Answering Feasibility Questions

Number corresponds to numbered feasibility questions from above section.
  1. Scaled experiments and extrapolation of results
  2. Newton's Second Law - thrust = drag force (include wind speed) + wave force. Assume boat as both a pontoon and v-hull design.
  3. Benchmark response times from different sensors
  4. Newton's Second Law - buoyancy force
  5. Benchmark different battery types
  6. Benchmark the accuracy of different positioning systems
  7. Benchmark the ranges of different communication systems

Risk Assessment

 First 6 Risk Items

First 6 Risk Items

Click Here For Risk Management Files

System Level Design Review

System Design Review Presentation

System Level Design Review

Plans for next phase

For us, this phase will focus on obtaining subsystem level components and characterizing them.

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

Schedule for Subsystem Design Review phase

Schedule for Subsystem 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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