Project

# Title Team Members TA Documents Sponsor
53 Multistage coil gun part 2
Area Award: Teamwork and Collaboration
Alejandro Esteban Otero
Changkun Li
Theodore Culbertson
Jackson Lenz design_document0.pdf
final_paper0.pdf
presentation0.pdf
proposal0.pdf
Our project is a continuation of the coil gun project that was started by Jonathan Dagdagan, Shashvat Nanavati, and Yohan Ko in 2013. They were able to build a three stage coilgun and fire it successfully, but the project still had several issues that need to be addressed. To begin with, the SCR cannot handle the voltage put across them during firing. We must find a way to reduce the stress on the SCR, or they will have to be replaced after every firing. We have thought about implementing an isolation transformer to achieve this goal. In order to reduce the current stress of the SCRs we would study the behavior of the circuit when adding SCRs in parallel for each transformer.

To increase the speed of the projectile and prevent the SCRs from blowing up we would include a diode and a resistance in parallel with the coils so that the energy stored in the inductor is dissipated quickly. We also intend to add several features to improve usability, including displays to show the speed of the projectile and charge of the capacitors.

Once the coil gun can be test fired reliably, we will do simulations and collect data to maximize the velocity of the projectile by altering placement of the coils and timing of the triggers.

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