SELFPOWERED AUTONOMOUS AQUATIC VEHICLE SPAAV MSD I TEAM

SELF-POWERED AUTONOMOUS AQUATIC VEHICLE (SPAAV) MSD I TEAM PROJECT 16250 REV. D

Agenda Electrical Subsystems Power Harvesting Mechanical Subsystems Boat Status Updates Administration

Progress Report Creating electrical schematics in Eagle Fixing the crack on the hull Designing and mounting structure & steering system Finishing the assembly of small-scale boat Performing model boat tests

Electrical Subsystems

Electrical System Update

Sensor Board Schematics

Power Board Schematic

Power Board Estop

Power Board Device Connections

Motor Controller USB, RS 232, RS 485, 0 -5 V Analog, or Pulse (RC radio) command modes CAN bus interface up to 1 Mbit/s with multiple protocol support Built-in dual 3 -phase high-power drivers for three brushed DC motor at up to 60 A each Supports open- and closed-loop velocity and position control w/ PID, as well as constanttorque control Excellent documentation and configuration software/support $595 - 5% sponsorship discount Source: roboteq. com

Motor Controller Previous Custom Solution 3 x Pololu 18 V 25 CS 25 A Drivers $179. 85 3 x ACS 714 Current Sensors $15. 00 Teensy Microcontroller $22. 00 HW Development Time $$$$ SW Development Time $$$$ Total: $216. 85 + time Roboteq FDC 3260 1 x Roboteq FDC 3260 $595. 00 Total: $595. 00 Source: roboteq. com

MPPT/Charger Update EPSolar e. Tracer ET 4415 BND Real-time energy statistics function. With RS-485, RS-232 communication bus interface and Modbus communication protocol, it is available to meet various communication requirements in different situations. Available for PC monitoring and external display unit connecting like MT 50 and so on, realizing real-time data checking and parameters setting. $420 on Amazon Source: epsolarpv. com

MPPT/Charger Update Source: epsolarpv. com

Power Harvesting

Updated Payload Specifications

Autonomy

Mechanical Subsystems

Steering Update Still parallel linkage Revised tie rod design to increase robustness and decrease complexity

Mounting/ Layout Prelim Drawings

Mounting BOM 4290 1515 -UL 1530 -UL 4295 3320

Boat Status Updates

Float Test

Hairline Crack

Hairline Crack Before After

Solar Panels Donation “Max, I will check but as I mentioned, there are four (I believe 60 watt) panels on the roof of one of the outbuildings at Liberty Hill where we live. You are welcome to those if you want them. We no longer need them because we installed a full 11 KW system there. Bill Destler” Source: RIT. edu

Administration

Project Plan

Next Steps Test plans for engineering requirements Adding detail to MSD II project schedule Finalize drawings for mounting and steering Near finalized BOM

QUESTIONS?