Minutes

2006-01-01

Attending:

Alan Batie, Gary Oliver, Allen Brown, Paul Hardin, Toby Martin, Burr Shaw (skype)

Revival:

Who is interested in reviving the Autosail project?

• Paul Hardin is out.
• Gary is in, limited time.
• Alan is in, limited time.
• Burr is in, limited time.
• Toby is in, limited time.
• Allen is in, but slightly confused

Target: small boat costing less than a ship day.

Grant to investigate using MMS(? transponder) to navagate around and notifiy other ships of autonomous vessel presence.

Next Steps:

First stage proof of concept:

• reincorporate - Alan
• RC radio model to Burr
• Burr to check on RC frequencies
• determine state of the model boat - Burr
• recommision
• recharge
• check belts
• check RC controls
• check motors
• change the oil
• needs for model
• RC Control
• Sensor Feedback
• Communications: sensor info to shore
• Physical layer: 900MHz, 802.11, bluetooth? - Gary, Toby
• Define protocols for control communications - Gary, Burr, Alan, Toby, Allen
• Spec / buy/ build control sensors (total payload, 2.5 pounds)- Dave, Phil
• Sail Positions
• Wind Direction
• Wind Speed
• Boat Heading
• Speed over Water
• User Interface for the control sensors - Gary
• Test runs: sail by hand - ALL

Second Stage: computer control (fly-by-wire)

• Control Commands to boat
• physical channel
• protocol
• Install control computer on-board boat
• Modify control motor / servos / whatever to accept computer commands
• User Interface for computer control (fly-by-wire).

Third Stage: autonomous control

• Add sensors
• roll
• technique for determining alsolute position
• GPS- not sensative enough for pond tests
• Radio Directon Finding- not very accurate
• Placed targets and cameras - sounds interesting
• Gyroscope - probably too large
• Accelerometer / inertial - how's the resolution?
• Acoustic Doppler?
• Relative heading through the water - wind vain like
• Control software, still control from shore

Fourth Stage: New Boat

• define protocols for science communications
• Spec new hull
• Spec new servos
• Spec new nav system
• Spec new sensors
• Check into laws of operation
• lights
• MMS
• radar
• Spec new ship-to-shore communications channels