The culminating test was the underwater test. This validated that the device is waterproof and performs as expected. A mock keel was made to simulate a real ship and was manually moved to the "center" following the readings of the device.
A second accuracy test was performed, this time using the handheld receiver. The test validated the required half-inch accuracy.
A rough accuracy test of the system was performed to validate the required half-inch performance.
This is an animation of the release mechanism showcased in the video below.
The team also performed an activation test at Austal. Emilio pulled the activation cable from one of the wingwalls and was able to successfully activate the device. It was found that the tactile feedback of the release was not felt by the operator, necessitating some way to ensure that the arms were actually released.
With the help of the sponsor, the team was able to get access to the Austal USA shipyard and perform a dry installation test of the system. The video shows the device being installed with only two people, to validate the ease of instillation. In addition, the test revealed that the lower two mounting brackets were unnecessary and could be removed.
After determining that the rotating contact arms design was the best way forward, the team designed and built a full-scale prototype.
After determining that the laser range finder was no longer viable, the team pivoted towards the rotating contact beam system. An early prototype was built to analyze the potential performance and issues.
The team bought a laser range finder and ran an experiment to determine how turbidity affects the reading. The laser was lowered into salt water and measured the distance to a disk. The disk was placed at known distances in order to calculate the error. The turbidity of the water was slowly increased until the laser stopped working. This test was crucial for the design process, as it eliminated laser range finders as a viable option. They do not work with dark surfaces, and ships' hulls are usually dark.
Similar to the vertical displacement contact arms device, two rotating arms can be used to determine the position of the ship. The red and orange lines in the simulation represent the arms. A trapezoid keel is sweeping across the screen in order to characterize any potential error at all relevant points.
MATLAB simulation of a mechanical sensing device guiding the ship to the correct position. The blue and green lines represent angled arms that are constrained to move only in the vertical direction. They can move separately, allowing their vertical positions to be used together to estimate the location of the ship.
MATLAB simulation of a contactless sensing device using lasers to guide the ship to the correct position. The blue and green lines represent the lasers. The position of the ship is estimated by calculating the intersection of circles formed at each laser's position with a radius corresponding to the sensed distance.
The location of the block contact indicator system in relation to the ship and blocks is shown.