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SAVER (Surface Autonomous Vehicle for Emergency Rescue)

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SAVER (Surface Autonomous Vehicle for Emergency Rescue) SAVER (Surface Autonomous Vehicle for Emergency Rescue) Final Design Review June 7, 2020 Sponsor: Dr. John Ridgely Mechanical Engineering Department California Polytechnic State University San Luis Obispo Team: Cal Poly SAVER Team Christopher Feickert [email protected] Ryan Shields [email protected] Max Emerick [email protected] Ray Impara [email protected] Disclaimer Since this project is a result of a class assignment, it has been graded and accepted as fulfillment of the course requirements. Acceptance does not imply technical accuracy or reliability. Any use of information in this report is done at the risk of the user. These risks may include catastrophic failure of the device or infringement of patent or copyright laws. California Polytechnic State University at San Luis Obispo and its staff cannot be held liable for any use or misuse of the project. Abstract The goal of this document is to clearly define the problem parameters and project objectives and to clearly describe the design process, planned final design, and manufacturing and testing procedures for the senior design project of Team 26: SAVER -- the Surface Autonomous Vehicle for Emergency Rescue. This is both for the purpose of project planning and for clear communication between all parties involved in the project. The objective of the SAVER project is to develop a proof of concept for an autonomous maritime search and rescue vehicle for aiding in man-overboard missions. To accomplish this goal, a list of specifications was developed based on background research and interviews with potential customers. These specifications, discussed later in this document, guided the design process, analysis, and testing plans, which are also covered. Based on this research and analysis, the SAVER team developed a final design consisting of a structural hull and frame made from fiberglass and MDF, respectively, which was to be waterproofed and filled with foam. An electronics system would monitor the relative positions of the vehicle and victim via GPS and actuate a thruster and rudder. This prototype was designed to be safe, reliable, and effective, and was expected to meet all specifications. By April 2020, due to the COVID-19 pandemic, the Cal Poly campus was shut down and all work was being carried out remotely. Without access to campus labs or shops, the team’s ability to complete work on this project was seriously limited. Through meetings with their sponsor and advisor, the project’s scope underwent major changes, and a new plan was established. The team was to focus on completing the mechatronics portion of the build and fully documenting all current and future design plans so that a future senior project team could complete the work at a later time. These scope changes as well as all manufacturing and testing work completed both before and after the scope change are discussed in this document as well. In order to make it possible for a future senior project team to complete work on this project, detailed plans for manufacturing, assembly, and testing of the device, as well as thorough documentation of the completed electronics build and device firmware are also included. Additionally, a “Guide for Future Team” is included as Appendix Q, which discusses a few of the biggest concerns and issues that the team has faced as well as some advice and references to assist future engineers with continuation of this project. Table of Contents 1.0 Introduction ............................................................................................................................................................. 8 1.1 Personnel ............................................................................................................................................................. 8 1.2 Problem ................................................................................................................................................................ 8 1.3 Document Layout ................................................................................................................................................ 8 2.0 Background .............................................................................................................................................................. 9 2.1 Customer/Sponsor Needs and Desires ................................................................................................................. 9 2.2 Customer Interviews ............................................................................................................................................ 9 2.3 Current Situation .................................................................................................................................................. 9 2.4 Product, Patent, and Technical Research ........................................................................................................... 10 2.4.1 Existing Products ........................................................................................................................................ 10 2.4.2 Patents ......................................................................................................................................................... 12 2.4.3 Journal Articles ........................................................................................................................................... 13 2.4.4 Previous Projects/Case Studies ................................................................................................................... 14 2.4.5 Relevant Standards and Codes .................................................................................................................... 14 2.4.6 Ongoing Research ....................................................................................................................................... 15 3.0 Objectives .............................................................................................................................................................. 16 3.1 Problem Statement ............................................................................................................................................. 16 3.2 Boundary Sketch ................................................................................................................................................ 16 3.3 Customer Wants/Needs ..................................................................................................................................... 17 3.4 QFD Results and Solution Specifications .......................................................................................................... 17 4.0 Concept Design...................................................................................................................................................... 19 4.1 Processes ............................................................................................................................................................ 19 4.1.1 Function Decomposition ............................................................................................................................. 19 4.1.2 Ideation ....................................................................................................................................................... 19 4.1.3 Concept Models .......................................................................................................................................... 19 4.1.4 Pugh Matrices ............................................................................................................................................. 19 4.1.5 Morphological Table .................................................................................................................................. 20 4.1.6 Decision Matrix .......................................................................................................................................... 21 4.2 Selected Concept ............................................................................................................................................... 22 4.2.1 Structural Design ........................................................................................................................................ 22 4.2.2 Power and Drive Design ............................................................................................................................. 22 4.2.3 Electronic Systems Design ......................................................................................................................... 22 4.2.4 Control/Code Design .................................................................................................................................. 22 4.2.5 Concept Prototype ...................................................................................................................................... 23 4.2.6 CAD Model ................................................................................................................................................ 23 4.3 Preliminary Analysis ......................................................................................................................................... 24 4.3.1 Drop Height ................................................................................................................................................ 24 1 4.3.2 Buoyancy ...................................................................................................................................................
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