# Title Team Members TA Documents Sponsor
51 Auto Aquarium
Caleb Chow
Irfaan Attarwala
Sihun Hyun
Pooja Bhagchandani design_document1.pdf
# Auto Aquarium

Team Members:
- Sihun Hyun (sihunhh2)
- Caleb Chow (calebyc2)
- Irfaan Attarwala (iia2)

# Problem

With owning a fish tank, there are many maintenance steps that need to be conducted every so often to make sure the environment is livable for the fish. For example, the pH of the tank must remain constant, along with water levels, temperature, and oxygenation. These things require human maintenance and monitoring to make sure the fish have a livable environment. In addition, feeding the fish is typically a manual process.

# Solution

Our solution seeks to create an autonomous all-in-one solution that can monitor things such as (pH, water levels, temperature), via sensors. Our microcontroller will be wifi connected and will have a compatible mobile app that will alert the user when any of these variables are outside the acceptable variance for the fish’s living environment. In the mobile app, the user can set the ranges of acceptable variance for each variable, make profiles, etc. In addition, we will have LEDs on the tank that change color in accordance with the variables.

## Subsystem 1: Microcontroller

The microcontroller will be the processor that connects all other sensors and the wifi.

## Subsystem 2: Sensors

The sensors subsystem will contain a pH sensor, temperature sensor, and conductivity sensor. These sensors will be connected to the microcontroller and provide constant data back, that gets relayed back to the mobile app and LEDs.

## Subsystem 3: Feeder

The feeder will be controlled by the microcontroller. The automated feeder will be on a time based schedule set in the app. In addition, the feeder can be dispensed remotely from a button on the app.

## Subsystem 4: Wifi/mobile app

The wifi module will interface with the microcontroller and send data to the mobile app (ex. Temperature of water, pH level, etc.) The mobile app will display such information.

# Envision of final demo

For our final demo, we will have a small scale fish tank, and be able to add different things into the tank that will reflect in the app and show the LEDs changing.

Autonomous Sailboat

Riley Baker, Arthur Liang, Lorenzo Rodriguez Perez

Autonomous Sailboat

Featured Project

# 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

Project Videos