1. P18250 ‘Smart Buoy’ Phase 7 Customer Update

2. Contents Mechanical EE/CE Integrated Subsystems
Future plans/MSD Schedule

3. Mechanical

4. Cart Allows the buoy to be wheeled around
Will aid in launching the buoy into the water
Constructed out of a re-used steel cart, with a wood frame and rails that the buoy’s frame can slide on

5. Grommets - pontoons
Grommets were added along the top and side flaps of the pontoons for mounting to the frame.

6. Grommets - Frame
Bolts through the frame and then through the grommets in the pontoons. Wing-nuts are used to secure the bolts, all of the nuts being on the inside of the rails. There are also washers between the grommets and the bolt heads

7. Steering (Linear Actuator Mounting)
See Steering slide under “subsystem integration” for info on opperation

8. Electronics Box
2 rails made out of aluminum angle stock, elevated to be above the winch by 2 I shaped pieces of 5/32 Aluminum stock. Located above the winch so it can be easily removable, help keep weight centered, allow easy removal of the battery, and allow full range of motion of the linear actuator.

9. Pontoon Leak Testing
Use a squirt bottle with soapy water to find leaks.
Currently, the only leaks are at the corner seams shown in the picture to the right.
We will do another round of using vinyl cement
We also have flex seal on order, which will be a backup to go over all seams

10. Pontoon Heat Sealing
Heat sealing was used on the straight seams (top and side)
The easiest way to do this was using a standard household clothing iron.
This vastly improved how well these seams sealed and were able to hold air

11. Misc
Bungee cords to give cover shape, and light mounting

12. EE/CE

13. GPS/IMU Integration Testing
The GPS and IMU were tested together in a mobile setup. While walking around campus, the units gave constant updates on heading and location, allowing us to point our setup in different directions and have recommended directions at each turn. Both units worked as they should, but there was a problem with how the IMU’s data was being treated due to its calibration. Another test will be performed soon with some updated logic to have the IMU data become more useful in giving directions.

14. Linear Actuator Code Integration
The linear actuator had been already tested for functionality purposes, but now the migration and adaptation of the functionality code into the main navigation code was performed. A function was created that takes in a percentage of extension that we want the linear actuator to extend, and the extension is performed. The linear actuator was mounted in such a way that a 50% extension would line up the motor directly with the buoy, causing it to go straight. To turn left and right, extensions lower and higher than 50% are given.

15. Winch
During this phase we were successfully able to mount the winch and control it as desired. Most importantly we verified our method for stopping the motor once the anchor reaches its starting point (once it is retrieved)
Using current sensing, we can detect when the anchor returns to the winch based on an increase in current once it reaches the top and gets stuck.
A demo using a ~20lb backpack is shown to the right

16. Overall Circuit

17. Connections and Connectors
A Terminal Block is going to be used to make the connections between the outside and inside electrical components.
An Arduino shield is going be used to make the connections between the Arduino and the two motor drivers (Pololu and Adafruit).
For the connections between the Arduino and the Xbee, the IMU and the GPS, a breadboard is going to be used.
The transistors used in the controlling of the LEDs are going to be placed on the same breadboard.

18. Integrated Subsystems

19. Steering Test
To test the new linear actuator function, a test was performed with the buoy frame, linear actuator, and motor. With the linear actuator and motor mounted on the buoy frame, the turning function was used to extend the linear actuator to 25%, 50%, and 75% of full extension. The linear actuator extended as expected, and the motor turned in response. The turn angles were consistent after many repeated tests. This test showed the linear actuator and motor integration, as well as their integration to the buoy frame.

20. Future Plans/MSD Schedule

21. Schedule (documentation due dates)
* Last day of finals is 12/19

22. Plans
Keep working on build and test until the end of november (note that many of the team members will be away the entire week of thanksgiving)
Complete all required documentation for due dates
Develop plan/suggestions for next iteration of the project