Navigation and Thrust Systems for AUVSI RoboBoat
52
Navigation and Thrust Systems for AUVSI RoboBoat Department of Electrical and Computer Engineering October 1 st , 2015 Team: Michael S. Barnes, Evan J. Dinelli, Daniel R. Van de Water Advisors: Mr. Nick Schmidt and Dr. Gary Dempsey
Transcript of Navigation and Thrust Systems for AUVSI RoboBoat
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
2
Presentation Outline
bullBackgroundoObjective
oConstraints
oMotivation
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
3
Objective
bullDesign and build a system that serves as the framework for RoboBoat
4Images taken from [11]
Constraints - AUVSI
5
2013 2014 2015 Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
2
Presentation Outline
bullBackgroundoObjective
oConstraints
oMotivation
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
3
Objective
bullDesign and build a system that serves as the framework for RoboBoat
4Images taken from [11]
Constraints - AUVSI
5
2013 2014 2015 Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackgroundoObjective
oConstraints
oMotivation
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
3
Objective
bullDesign and build a system that serves as the framework for RoboBoat
4Images taken from [11]
Constraints - AUVSI
5
2013 2014 2015 Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Objective
bullDesign and build a system that serves as the framework for RoboBoat
4Images taken from [11]
Constraints - AUVSI
5
2013 2014 2015 Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Constraints - AUVSI
5
2013 2014 2015 Communication
Energy source
Kill switch
e-Kill switch
Propulsion
Remote control
Safety
Size
Waterproof
Weight
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Competition Area
6Image taken from [11]
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Constraints and Requirements
7
Communication
Energy source Kill switch
e-Kill switch
Propulsion
Remote control Safety
Size
Waterproof
Weight Cost
GPS and compass
Mode switch
Reusable
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Constraints and Requirements
8
Type Communication Constraint
Energy source Constraint
Kill switch Constraint e-Kill switch Functional Requirement
Propulsion Functional Requirement
Remote control Functional Requirement
Safety Nonfunctional Requirement Size Constraint
Waterproof Nonfunctional Requirement
Weight Constraint
Cost Constraint GPS and compass Functional Requirement
Mode switch Functional Requirement
Reusable Nonfunctional Requirement
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Significance
bullAssociation for Unmanned Vehicle Systems International (AUVSI) RoboBoat Competition
bullBenefits Bradley ECE DepartmentoExposure for School and Department
9
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Motivation
bullFuture Bradley TeamsoFramework
oGenerate Interest
bullMultidisciplinaryoElectro-Mechanical
oPower Electronics
oEmbedded Systems
10
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackground
bullDesign ApproachoSubsystems
oPrimary Design Choices
oDesign Alternatives
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
11
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
12
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
13
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullBlue Robotics T100 Thrusters
Image taken from [12]
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
14
Motor Control
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
15
Motor Control
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
16
Motor Control
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
17
Motor Control
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
18
Motor Control
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Remote Control
19
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
bullFutaba T6EX Transmitter and 617FS Receiver
Images taken from [4] and [13]
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
20
Remote Control
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
21
Remote Control
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
22
Remote Control
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion System
23
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Kill Switch
bullDesign Choice
o15rdquo diameter red button located on the vehicle
oDisconnects power from all motors and actuators
24
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion Design Choice
bullMaster-Slave Relationshipo1 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoDedicated Microcontroller
25
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Propulsion Design Alternatives
26
bullMaster-Slave Relationshipo2 Master Microcontroller
o4 Slave Microcontrollers
bullRemote Control ProcessingoShared Microcontroller
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation System
27
Communication
Cost
e-Kill switch
Energy source
GPS and compass
Kill switch
Mode switch
Propulsion
Remote control
Reusable
Safety
Size
Waterproof
Weight
Image taken from [11]
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation System
28
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation System
29
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation System
30
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation Design Choice
bullCompass Bearing and GPS CoordinatesoSeparate Sensors
bullPre-process GPS and Compass DataoSingle Microcontroller
31
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation Design Alternatives
bullCompass Bearing and GPS CoordinatesoPackaged Sensors
bullPre-process GPS and Compass DataoSeparate Microcontrollers
32
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackground
bullDesign Approach
bullLogisticsoDivision and Labor
oSchedule
oResourcesFacilities
bull Impact and Analysis
bullSummary and Conclusions
33
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Division of Labor
Task Name(s) Assigned to Task
Remote Control GPSCompass Evan
Motor MOSFET System Mike
Motor Controller Dan
System Integration All Team Members
34
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Schedule
35
ID Task Name Duration Start Finish
1 RC control 50h Tue 91515 Thu 102015
2 Compass 55h Tue 102015 Thu 12315
3 GPS 40h Thu 12315 Thu 12816
4 FET system 185h Tue 92215 Thu 42116
5 Motor controller 110h Tue 92215 Tue 12616
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Gantt Chart
36
October rsquo15 November rsquo15 December rsquo15 January rsquo16 February rsquo16 March lsquo16
27 4 11 18 25 1 8 15 22 29 6 13 20 27 3 10 17 24 31 7 14 21 28 6 13 20 27 3
RC control
Compass
GPS
FET system
Motor controller
Proposal Presentation ( Oct 1 )
Proposal Document ( Oct 15 or 20 )
Webpage Release ( Oct 28 )
Progress Presentation amp Performance Evaluation ( Nov 19 or 24)
Performance Review ( Dec 3 or 8 )
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Resources
bullSoftwareoAtmel Studio
oMATLAB
bullECE Department Laboratory Equipment
bullMarkin Recreation Center
bullBradley University Quad
37
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and AnalysisoEconomic Analysis
oSocietal Impacts
oEnvironmental Impacts
bullSummary and Conclusions
38
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Expenses
39
Part Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 --
Internal Rectifier IRLB8748PbF HEXFET $072 24 $2500
Microcontrollers $767 7 $6000
Predriver $701 4 $3000
Futaba T6EX Transmitter $15000 1 --
Futaba 617FS Reciever $6998 1 --
Adafruit Ultimate GPS Breakout $3995 1 $4000
Compass - CMPS 10 $5733 1 $6000
Unplanned Costs $20000 1 $20000
$415
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Societal Impacts
bullEmergency RescueoRemote Assistance
oReduced Danger to Responders
bullMarine Research and Exploration
40
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Environmental Impacts
bullOil Spill Animal Recovery
bullFight Aquatic Fire Remotely
41
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Presentation Outline
bullBackground
bullDesign Approach
bullLogistics
bull Impact and Analysis
bullSummary and Conclusions
42
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Summary and Conclusions
bullDesign a system that can be used for several years to come
oPropulsion systemoMotor Control
oRemote Control
oNavigation SystemoGPS and Compass
bullBenefit Bradley ECE Department
43
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Navigation and Thrust Systems for AUVSI RoboBoat
Department of Electrical and Computer Engineering
October 1st 2015
Team Michael S Barnes Evan J Dinelli Daniel R Van de Water
Advisors Mr Nick Schmidt and Dr Gary Dempsey
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
References[1] AUVSI Foundation (2015) RoboBoat - Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-
d58c1e158347UploadedFilesRoboBoat_2015_final_rulespdf
[2] Bradley Electrical Engineering Department Senior projects (2013) Roboboat - The NASTI Available httpcegt201bradleyeduprojectsproj2013nastiplatformhtml
[3] AUVSI Foundation (2013) 6th RoboBoat Competition ndash Final Rules [Online] Available httpshigherlogicdownloads3amazonawscomAUVSIfb9a8da0-2ac8-42d1-a11e-d58c1e158347UploadedFilesRoboBoat_2014_final_rulespdf
[4] Futaba 6EX 24Ghz HelicopterAircraft Transmitter [Online] Available httpwwwamazoncomFutaba-2-4Ghz- Helicopter- Aircraft-TransmitterdpB0015H6FOC
[5] Adafruit SEARCH RESULTS FOR GPS [Online] Available httpwwwadafruitcomsearchq=gpsampb=1
[6] RobotShop Magnetic Sensors Compass [Online] Available httpwwwrobotshopcomenmagnetic-sensorscompasshtml
[7] Atmel ATMEGA168-20PU [Online] Available httpwwwnewarkcomatmelatmega168-20pumicrocontroller-mcu-8-bit-atmegadp68T2698mckv=s3j5ZajsZ|pcrid|57087235221|plid|ampCMP=KNC-GUSA-GEN-SHOPPING- ATMELgross_price
[8] Alegro A4960 datasheet [Online] Available httpwwwallegromicrocom~MediaFilesDatasheetsA4960-Datasheetashx
[9] Atmega328 picture [Online] Available httpwwwnkcelectronicscomassetsimagesatmega328pjpg
[10] Atmega1284 picture [Online] Available httpd1gsvnjtkwr6ddcloudfrontnetlargeIC-ATMEGA1284-PU_LRGjpg
[11] AUVSI Team Central Information [Online] Available httpwwwauvsifoundationorgcompetitionsroboboatteamcentral
[12] Blue Robotics T100 Thruster [Online] Available httpswwwblueroboticscomstorethrusterst100-thruster
[13] Futaba 617FS receiver Amazon [Online] Available httpwwwamazoncomFutaba-R617FS-Diversity-Receiver-VersiondpB00F09LZ3Wref=sr_1_11s=toys-and-gamesampie=UTF8ampqid=1443621026ampsr=1-11ampkeywords=Futaba+617FS+Receiver
45
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Gantt Chart (full version)
46
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Gantt Chart (Navigation)
47
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Gantt Chart (Propulsion)
48
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Detailed BudgetPart Unit Cost Quantity Total Cost
Blue Robotics T100 Thrusters $10900 4 $43600
Internal Rectifier IRLB8748PbF HEXFET $072 24 $1728
Master Controller - ATmega 1284 $767 1 $767
Slave Controller - ATmega 644 $675 4 $2700
Allegro MicroSystems A4960 $701 4 $2804
Futaba T6EX Transmitter $15000 1 $15000
Futaba 617FS Reciever $6998 1 $6998
RC Controller - ATmega 328 $324 1 $324
Adafruit Ultimate GPS Breakout $3995 1 $3995
Compass - CMPS 10 $5733 1 $5733
GPSCompass Controller ndash Atmega 1284 $767 1 $767
$84416
49
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
System Block Diagram
50
Subsystem Block Diagram
51
APPENDIX
52
Subsystem Block Diagram
51
APPENDIX
52
APPENDIX
52
