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005.6 "converge"

== Electronic group ==
Qiuyang Zhou : choose parts, stay on schedule. 
Gabriella Levine : hack electrics / electronics
Logan Williams : optimize circuits / consumption, response time. Choose next generation of parts. 

== Mechanical group ==
Roberto Melendez : define good hull shape, buoyancy, weight. Define the weak points, torque required to bend the hull. 
Sebastian Muellauer : design the actuation system. Choose hull materials and processes. 
Sebastin Neitsch  : connect the electric and mechanical group. Work on data feedback from the embed Xbee.
Cesar Harada : Design the mechanics of the hull

== Oil group ==
Francois de la Taste : define test matrix for different oil cleaning equipment. Order test materials, build experimental setups. 

Assignment for the week (draft):


From a standard 12V hacked cordless drill =>
1/ Know your battery. Define the specs of the batt. (V, A, Peak, Duty cycle ...)
2/ Know your motor. RPM and Torque f V, A ...
We need to know our current motor to project for future part order (more efficient motors / batteries)


1/ Establish good 2 way communication between "base" and "embed" Xbees.
2/ Control speed, direction and torque of 2 motors. Reduce response time to minimum. 
3/ Control the approximate position of the motor (feedback). 
4/ Log movement data so we can replicate experiments.
5/ Either use keyboard / hacked RC command to control the Xbee sailing robot. 


1/ choose a hull design that is modular and that we can adjust (weight, shape, motors, payload). 
2/ Mechanical system should be robust and have a short response time using the motors chosen by the electric team  for better maneuverability and minimum response delay. 


1/ Define the test matrix that is required, and design the tests (environment, material, process, etc.)

Assignments for 11th July to 15th  July

1. Design and get insulative  tube for power cables and sensor signal cables
2. Design the layout of the electronics components and find the appropriate water proof box to encapsulate them.
3. Get the  control code running


1. Finishing  test model for cable actuation
2. Order the appropriate lead screw and nut for actuation
3. Get longer Bowden cables (> 2m)
4. Mechanical design for winch box 
5. reinforce the sail
6. design the size and weight of the keel and the ballast. 


We took apart an inexpensive cordless drill to find a high amperage (10A, up to 80A stalled) DC motor. 

 V1/ microcontroller--> high amperage motor (hacking a cordless drill)
 Schematic (of motor driving, since outdated)  A simple schematic for controlling a high amperage load through Arduino by using an external power source powered through a TIP120 transistor (made with Fritzing) (update - 6.28.2011 - use the MOSFET transistor that comes attached to the motor of the drill, configured identically to the TIP 120 in this circuit diagram)
 Arduino drawing (made with Fritzing):

 diagram with a microcontroller (Arduino, here; made with Fritzing) - replace the 9V battery with whatever battery pack we will be using. This is the circuit used to power the drill.  
 Code Is available from the Protei git repository, here:
 Xbee-box wiring
 Has been made with an Ethernet plug :
 RJ45 Pin 1 - Orange -     XBee pin 1 (Vcc)
 RJ45 Pin 2 - Green   -     Xbee pin 2 (Dout)
 RJ45 Pin 3 - Blue         
Xbee pin 3 (Din)
 RJ45 Pin 4 - Brown   -     Xbee pin 10 (GND)

Control system schematic

Cable layout


1. Configuration of the two XBee.
    We use a Coordinator----End device communication pattern, which means one of the XBee is configured as coordinator of the wireless network and the other is configured as the end device.
    For this simple communication pattern, the above configuration is enough.  

2.  Xbee Range Tests: reliable tx/rx <150 m outdoors, <80m indoors
3. Global electronic layout (original Illustrator source file in attachment) :

Electronic Patching Diagram


Linear Actuators :


Winch :



Gabriella Levine,
Jun 26, 2011, 3:57 PM
Gabriella Levine,
Jun 26, 2011, 3:57 PM
Gabriella Levine,
Jun 26, 2011, 3:58 PM
François de la Taste,
Jul 22, 2011, 5:59 AM