Difference between revisions of "F16: Autonomous Nautical System"

Revision as of 01:03, 21 December 2016

Grading Criteria

How well is Software & Hardware Design described?
How well can this report be used to reproduce this project?
Code Quality
Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
  Schematic Quality
- Quality of technical challenges and solutions adopted.

Autonomous Nautical Systems for Ocean Transit and Survey (ANSOTAS)

Abstract

Constructing an autonomous navigation system responsive to GPS and Tilt Compass feedback to form and track trajectories to a given location. Low power, and observant system.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

Angel Hernandez-Perez
Fayek Wahhab
Abraham Carrillo

Schedule

Table 1. Schedule

Parts List & Cost

SJ One Board | $80.00
Tilt Corrected Compass | $30.00
GPS | $50.00
7.2V 2600mAH Battery (included w/hull)
5V 5200mAH Battery | $13.00
Hull | $155.00
DC Motor (included w/hull)
Servo (included w/hull)
Electronic Speed Controller (included w/hull)

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Considerations for our hardware include power consumption and usefulness in a water scenario. The root of this project where sensor input is analyzed and output signals are distributed is the SJ One board. Using the FreeRTOS OS an autonomous system can adjust its velocity and direction by controlling the motor and servo. GPS and Tilt compass provides the feedback needed to make adjustments.

File:Project Hardware Overview ANSOTAS.jpg

200px

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

Sourceforge Source Code Link

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.

Week#	Date	Tasks	Actual
1	10/8	Decide on boat hull based on the amount of devices we planned to us. Purchased motor, servo, and battery accordingly	Completed Brushed DC motor powered by Electronic Speed controller was purchased.
2	11/4	Intercept the pwm signals issued by a remote control for steering and speed throttling. Decode these signals over time to identify which values produce what kind of effect to the driving system.	Completed Using a logic analyzer did not work the way we planned An oscilloscope was used but only to prove that this was not necessary since the motor and servo reacts to PWM as any other motor or servo.
3	11/25	Make separate compass, gps, and pwm tasks	Completed These tasks are a simple tasks demoing the functionality
4	12/02	Link separate task outputs together using navigation task.	Completed Debug the steering and motor control commands issued by the state of the navigation task state machine.
5	12/16	Revise gps task to give only needed information and use all task outputs in the navigation task	Completed Buggy and needs to check for invalid information using checksum
6	12/20	Update the wiki page	Completed Clean up exceptions in the land demo program