# Title Team Members TA Documents Sponsor
2 Autonomous Sailboat
Outstanding Engineering Award
Arthur Liang
Lorenzo Rodriguez Perez
Riley Baker
Evan Widloski design_document3.pdf
# Autonomous Sailboat

Team Members:
- Riley Baker (rileymb3)
- Lorenzo Pérez (lr12)
- Arthur Liang (chianl2)

# Problem

WRSC (World Robotic Sailing Championship) is an autonomous sailing competition that aims at stimulating the development of autonomous marine robotics. In order to make autonomous sailing more accessible, some scholars have created a generic educational design. However, these models utilize expensive and scarce autopilot systems such as the Pixhawk Flight controller.

# Solution

The goal of this project is to make an affordable, user- friendly RC sailboat that can be used as a means of learning autonomous sailing on a smaller scale. The Autonomous Sailboat will have dual mode capability, allowing the operator to switch from manual to autonomous mode where the boat will maintain its current compass heading. The boat will transmit its sensor data back to base where the operator can use it to better the autonomous mode capability and keep track of the boat’s position in the water. Amateur sailors will benefit from the “return to base” functionality provided by the autonomous system.

# Solution Components

## On-board
### Sensors
Pixhawk - Connect GPS and compass sensors to microcontroller that allows for a stable state system within the autonomous mode. A shaft decoder that serves as a wind vane sensor that we plan to attach to the head of the mast to detect wind direction and speed. A compass/accelerometer sensor and GPS to detect the position of the boat and direction of travel.
### Actuators
2 servos - one winch servo that controls the orientation of the mainsail and one that controls that orientation of the rudder
### Communication devices
5 channel 2.4 GHz receiver - A receiver that will be used to select autonomous or manual mode and will trigger orders when in manual mode.
5 channel 2.4 GHz transmitter - A transmitter that will have the ability to switch between autonomous and manual mode. It will also transfer servos movements when in manual mode.
### Power
LiPo battery

## Ground control
Microcontroller - A microcontroller that records sensor output and servo settings for radio control and autonomous modes. Software on microcontroller processes the sensor input and determines the optimum rudder and sail winch servo settings needed to maintain a prescribed course for the given wind direction.

# Criterion For Success

1. Implement dual mode capability
2. Boat can maintain a given compass heading after being switched to autonomous mode and incorporates a “return to base” feature that returns the sailboat back to its starting position
3. Boat can record and transmit servo, sensor, and position data back to base

Low Cost Distributed Battery Management System

Logan Rosenmayer, Daksh Saraf

Low Cost Distributed Battery Management System

Featured Project

Web Board Link:

Block Diagram:

Members: Logan Rosenmayer (Rosenma2), Anthony Chemaly(chemaly2)

The goal of this project is to design a low cost BMS (Battery Management System) system that is flexible and modular. The BMS must ensure safe operation of lithium ion batteries by protecting the batteries from: Over temperature, overcharge, overdischarge, and overcurrent all at the cell level. Additionally, the should provide cell balancing to maintain overall pack capacity. Last a BMS should be track SOC(state of charge) and SOH (state of health) of the overall pack.

To meet these goals, we plan to integrate a MCU into each module that will handle measurements and report to the module below it. This allows for reconfiguration of battery’s, module replacements. Currently major companies that offer stackable BMSs don’t offer single cell modularity, require software adjustments and require sense wires to be ran back to the centralized IC. Our proposed solution will be able to remain in the same price range as other centralized solutions by utilizing mass produced general purpose microcontrollers and opto-isolators. This project carries a mix of hardware and software challenges. The software side will consist of communication protocol design, interrupt/sleep cycles, and power management. Hardware will consist of communication level shifting, MCU selection, battery voltage and current monitoring circuits, DC/DC converter all with low power draws and cost. (uAs and ~$2.50 without mounting)