Pirate Ship
From Bob's Basement
Contents |
Pirate Ship
T.U.E.S.D.A.Y. (Trousers Uplink Electronic Surveilence Data Aquisition Yacht)
People on the Project
Project Leader: Kitty
Others: Fish, Blue, Rem
Introduction
The basic concept is as follows: A small boat, which can operate either autonomously, or with operator assistance. Which functions as a platform from which further projects and activities can be mounted.
An example of such is auto mated war sailing using kismet.
Parts List
Navigation
- System Board (Gumstix verdex XL6P)
- Wifi connectivity (wifi module)
- Wired Ethernet & storage (netmicroSD)
- GPS Input (gpsStix)
- 1 tri-axis OR 1 dual axis and 1 single axis OR 3 single axis accelerometers (linked)
- 1 electronic compass (linked)
- 3 electronic gyros (linked)
Payload
The current plan is to have two payload areas, one for a control platform which will include a computer, networking (to control it), gps, etc...
The other platform will form a generic space from which future products can be developed.
Hull
Current plan is for a mono hull design with two motors, probably in the form of 400w 12v motors from bosch.
For simplicity and as ultimately this project is abot control systems not hull designs, we have gone for a 1/2 scale 15'6" clam skiff from the instant boat range from some guy called "Bolger". The boat is made from 1/4" exterior ply. Marine ply was just far far two expensive.
Propulsion
Props powered by motors (as above)
Models
The development of a series of dynamic models, collectively referred to as the Pirate Ship : Model obtained either through system identification methods or if anyone is feeling particularly brave, from first principles. The models will allow the crew to monitor the response exhibited by the PS for a variety of input signals and environmental conditions. A PS model, whilst beneficial for playing around with the PS within a safe environment or where the environmental conditions necessary for the test do not easily present themselves is also of great benefit for the design of the controller.
Diary
26th July 2008
We now appear to have a hull constructed. We now need to plan fibre glassing and propulsion.
30th September 2007
All parts for the hull and all wood has been procured and cut. Next meetup will finish the hull off.
Stuff to get from screwfix before we go much further
- 18429 - G clamps
- More of the same ... quick-grips would be good but are fooking expensive.
- 19762 - Plane
- 10041 - Rule (don't we already have one of these?)
Also need some resin and fibreglass cloth and tape from somewhere. First google hit:
http://www.epoxy-resins.co.uk/
Epoxy would also be handy for laminating the sheets. We will need something like a press to ensure that the boards laminate properly. Clamps along the edges and something big and flat to put in the center.
July 2007
Discussed possibilities of using gumstix embedded Linux platform for Vehicle Control Unit, and redundant AVR's for motor control (with the UAV in mind).
Discussed design of hull. Kitty says a spec will be here RSN.
Whiteboarding session on the Boat
Discussed possibility of payload platform communicating with the main VCU using Ethernet, using an on-chip Ethernet switch with 5 ports (Link Me?)
Will a bilge pump be required? What kind of protection will the electronics require from the water, and how will it be done?
We want to get this project on the road rather than coming up with more ideas. Design, make, decorate (and all that rubbish)
Fish has written some notes on an Inertial navigation system which could be used for greater accuracy than using GPS alone.
Fish has bought a GPS reciever and is playing with gpsd, logged on this page: Pirate Ship : GPS Experiments
Fish has been building a half scale model of the boat with his engineer friend and/ee ; Pirate Ship: Half Scale Model
