Project Menu
Mechanical Systems
This project will use CFD to understand the behaviour of the robotic vessel in the water. It will start with the determination of the hull and wave-making resistances, then consider the righting moments and determine the restoration coefficients.
The roboboat is being retrofitted with twin electric motor systems, each consisting of a low-voltage (12V) brushed motor and high-voltage (400V) brushless motor connected through an electromechanical clutch to a driveshaft and propeller.
Mooring systems, including plans for automation.
The vessel is currently cradled on an ancient frame donated by the German navy along with the boat. The frame looks like a trailer, but it is in no way road worthy - it has no springs nor shock absorbers, its solid rubber tyres are just done, and it has no trailer hitch. There is no winch for hauling it out of the water, nor is there any cradle or rollers to help it up onto the cradle.
Mechatronic Systems
The first step toward autonomy is to control the heading of the machine using its rudders. This project is about matching a gyrocompass with the onboard mechatronic system to follow a set course.
Make this puppy move! Specification of prime mover, power requirements, control and mechanical interface to clutch & power transmission.
To recover objects out of the water, or to place fenders to protect the hull during mooring operations, the vessel needs a deck crane.
Electrical Systems
The various mechatronic, autopilot, sensor and control systems need both power and signal. This project is about designing, selecting and implementing a modern standardised bus system throughout the vessel which will satisfy both the current requirements and be futureproof for later developments. The standard should also be flexible enough to be adopted in all ENSPIRE vehicles going forward.
The SpoyWiesel is to have two separate battery systems: a low-voltage (12V) lead-acid system for the low-power motors and onboard electronics, and a high voltage (400V) lithium battery system. The 12V system is straightforward to design and maintain, but the high-voltage system will require more sophisticated battery monitoring and charging systems to ensure safety and maximum effectiveness.
Ships can't run at night or in reduced visibility without lights. An autonomous ship must also be able to monitor the state of all of its own systems, starting from the hull (keeping the water out), and including motors, sensors, guidance and control. This project will be about building a nervous system for the vessel.
Sensor Systems
Radar is the primary guidance sensor used by ships in reduced visibility. We have a commercial radar system available for the SpoyWiesel, but as it is designed for a human captain, it needs an interface to the onboard computer system. This project will be about either hacking into the output system (the display or possibly other outputs) to produce an image stream for analysis by the navigation computer.
Underwater a ship uses sonar to identify obstacles. This project is about integrating ENSPIRE's multibeam sonar (Imagenex Delta-T) into the navigation system of the SpoyWiesel. The output imagery is provided by the commercial system, so the project will involve identifying and tracking obstacles, starting with the walls of the canal, to build a control input to the autopilot to avoid underwater collisions.
Several systems must work together to determine the speed of a vessel through the water. GPS provides a good (but not great) picture of the average velocity. Paddlewheels are more precise when they aren't clogged with algae or other growth. Water is electrically conductive, so magnetic currents can be used if they can be precisely calibrated. Pressure measured in a pitot tube or on a Bernoulli surface plate likewise has calibration and fouling implications. The fish lateral line provides a new means of measuring velocity, either using artificial hair cells or pressure fluctuations.
A human captain reckons the velocity of his or her vessel by tracking the passage of landmarks. This project will be about giving the RoboBoat a similar capability based on the input to a webcam.
During experimental research and development with the SpoyWiesel, we'll need a wireless control system. There are several options available, ranging from short range wifi to longer range VHF and remote operation over 3G. This project will be about assessing the best options for all ranges, then building at least the short range one.