Project

# Title Team Members TA Documents Sponsor
24 Autonomous Sailboat (2)
Austin Glass
Devansh Damani
MICHAEL Sutanto
Koushik Udayachandran design_document2.pdf
final_paper1.pdf
photo1.jpg
photo2.jpg
presentation1.pdf
proposal1.pdf
proposal2.pdf
# Team Members:
- Austin Glass (akglass2)
- Devansh Damani (ddamani2)

# Problem
Given a starting point, destination, path, and environmental factors such as wind speed or water current, a boat can travel both autonomously or remotely.

Specifically, as stated by the project pitch, the goal is to improve the performance achieved by an earlier iteration of this project, as well as demonstrating new capabilities.

We aim to be able to seamlessly switch between autonomous control and remote user control. We also aim to introduce ease of life features like battery indicators, simpler charging / batteries, and an autonomous return to user mode.

# Solution
Our end goal is to make sure we have a boat that autonomously or remotely is able to traverse a body of water regardless of the water’s conditions. By meeting our criterions for success, we believe that we will succeed in creating such a boat.

# Solution Components
_Note: Many of these components, besides the speed sensor and ultrawideband, are already incorporated in the Spring 2022 design of the boat. As discussed with Professor Fliflet, these will be provided as is, and will be utilized with our improvements and changes_

## Subsystem 1 - The Boat
The boat itself is built, with controllable rudders and sail trim. These elements operate the boat, changing its direction and speed as it picks up wind.

## Subsystem 2 - Compass Sensor (LSM303)
The compass works to direct the boat along its path. If it needs to travel north, this data can be taken in and be processed along with the wind direction to direct the boat. The compass also works to detect heeling, which is necessary for telling its current orientation on the water (i.e. if it is impacted by waves).

## Subsystem 3 - Wind Direction Sensor (RotaryEncoder library)
Similarly to the compass, this information is crucial to determine the sail and rudder positions, as there is an optimal orientation for the desired direction with a given wind direction.

## Subsystem 4 - GPS (NEO-6M GPS)
Locates the current position of the boat, and can be verified for current and targeted path, as well as data for testing accuracy.

## Subsystem 5 - Remote Control (FlySky FS-i6 Remote)
Remote control for operating the boat at a distance.

## Subsystem 6 - Speed Sensor
A new speed sensor can be added to the boat to help calculate its current and future position, potentially allowing for some predictability in its movement that could increase accuracy.

## Subsystem 7 - Ultra Wideband Chip (DWM1001)
To return back to a user, an ultrawideband chip could be used to determine where the boat is in relation to the user (located at the base station), and direct the boat back towards them. This can be combined with other data like compass data to determine the direction needed to travel.


# Criterion For Success
Our main criterion for measuring success is making sure that the boat is able to autonomously travel in a straight line adjusting for the wind, water current and speed and other criteria. In the prior project, there hasn't been enough testing conducted, which is one of our biggest goals.

Regular testing in an outdoor environment, preferably in differing weather conditions, to prove the versatility of the boat and the autonomous code would be necessary. We will do this to test the sensors to verify if they maintain the boat’s linear and autonomous motion.

Working with Professor Fliflet to make sure we are starting from the right point with the project, not doing any work that has already been completed, and making efficient use of our time on improvements.

Covert Communication Device

Ahmad Abuisneineh, Srivardhan Sajja, Braeden Smith

Covert Communication Device

Featured Project

**Partners (seeking one additional partner)**: Braeden Smith (braeden2), Srivardhan Sajja (sajja3)

**Problem**: We imagine this product would have a primary use in military/law enforcement application -- especially in dangerous, high risk missions. During a house raid or other sensitive mission, maintaining a quiet profile and also having good situational awareness is essential. That mean's that normal two way radios can't work. And alternatives, like in-ear radios act as outside->in communication only and also reduce the ability to hear your surroundings.

**Solution**: We would provide a series of small pocketable devices with long battery that would use LoRa radios to provide a range of 1-5 miles. They would be rechargeable and have a single recessed soft-touch button that would allow someone to find it inside of pockets and tap it easily. The taps would be sent in real-time to all other devices, where they would be translated into silent but noticeable vibrations. (Every device can obviously TX/RX).

Essentially a team could use a set of predetermined signals or even morse code, to quickly and without loss of situational awareness communicate movements/instructions to others who are not within line-of-sight.

The following we would not consider part of the basic requirements for success, but additional goals if we are ahead of schedule:

We could also imagine a base-station which would allow someone using a computer to type simple text that would be sent out as morse code or other predetermined patterns. Additionally this base station would be able to record and monitor the traffic over the LoRa channels (including sender).

**Solutions Components**:

- **Charging and power systems**: the device would have a single USB-C/Microusb port that would connect to charging circuitry for the small Lithium-ion battery (150-500mAh). This USB port would also connect to the MCU. The subsystem would also be responsible to dropping the lion (3.7-4.2V to a stable 3.3V logic level). and providing power to the vibration motor.

- **RF Communications**: we would rely on externally produced RF transceivers that we would integrate into our PCB -- DLP-RFS1280, https://www.sparkfun.com/products/16871, https://www.adafruit.com/product/3073, .

-**Vibration**: We would have to research and source durable quiet, vibration motors that might even be adjustable in intensity

- **MCU**: We are likely to use the STM32 series of MCU's. We need it to communicate with the transceiver (probably SPI) and also control the vibration motor (by driving some transistor). The packets that we send would need to be encrypted (probably with AES). We would also need it to communicate to a host computer for programming via the same port.

- **Structural**: For this prototype, we'd imagine that a simple 3d printed case would be appropriate. We'd have to design something small and relatively ergonomic. We would have a single recessed location for the soft-touch button, that'd be easy to find by feel.

**Basic criterion for success:** We have at least two wireless devices that can reliably and quickly transfer button-presses to vibrations on the other device. It should operate at at *least* 1km LOS. It should be programmable + chargeable via USB. It should also be relatively compact in size and quiet to use.

**Additional Success Criterion:** we would have a separate, 3rd device that can stay permanently connected to a computer. It would provide some software that would be able to send and receive from the LoRa radio, especially ASCII -> morse code.