Hackerboat An Autonomous Boat Project from Hackerbot Labs - - PowerPoint PPT Presentation

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Hackerboat An Autonomous Boat Project from Hackerbot Labs - - PowerPoint PPT Presentation

Dec 18, 2022 344 likes •729 views

Hackerboat An Autonomous Boat Project from Hackerbot Labs Pre-history In early 2011, 3ric Johansen proposed building an autonomous boat to circumnavigate the world. Various members of Hackerbot, including Lisa Lafleur, Jeremy Ruhland and

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Hackerboat

An Autonomous Boat Project from Hackerbot Labs

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Pre-history

  • In early 2011, 3ric Johansen proposed building an autonomous boat

to circumnavigate the world.

  • Various members of Hackerbot, including Lisa Lafleur, Jeremy Ruhland

and Ben Bloss, worked on planning various aspects of the trip and boat development.

  • This never moved beyond the planning stages.
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Rebirth of the Hackerboat

  • I proposed bringing it back as a staged project, i.e. building more and

more capable boats to develop our capabilities.

  • First goal: demo at Toorcamp 2016
  • Purchased & refurbished the cheapest two-person fiberglass kayak on

Craigslist…

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Reborn Hackerboat Architecture

  • Solar-electric propulsion
  • Donated solar panels & batteries from Myles Conley
  • $100 re-manufactured Minn Kota trolling motor
  • Waterproof servo with gearing to steer
  • Control System
  • Beaglebone for high level navigation & decision making
  • Arduino Mega for low level steering, throttle, and health monitoring
  • Communications
  • 900 MHz Ethernet bridge for ship to shore
  • 2.4 GHz WiFi for onboard communications
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Photo courtesy Becki Brotman

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Photo courtesy Becki Brotman

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Photo courtesy Becki Brotman

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Mechanical Improvements

  • Improved battery retention
  • New mast
  • External start/stop buttons
  • Warning horn
  • External status lights
  • Improved hatch retention/keying
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Software Improvements

  • MAVLink and QGroundControl don’t work very well…
  • Security? LOL…
  • Difficult to configure ground control software
  • Highly crash prone
  • Replacing it with a REST interface
  • Passes seamlessly through most networks
  • Latency is a minor issue for a boat
  • Lots of tools for security, management, etc.
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The Future

  • Self-tending wingsails for

propulsion

  • Free to rotate
  • Angle of attack (i.e. power &

direction) set by a tail

  • Require only one actuator per sail to

drive the tail

  • Two wingsails mean no rudder to

foul or break

Diagram courtesy J Walker, Sailwings.net

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Courtesy Daniel R Strebe, 15 Aug 2011.

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Next Steps

  • Better sails for the sailing pathfinder
  • 4m autonomous sail boat for:
  • World Robotic Sailing Championship
  • Microtransat
  • Puget Sound/West Coast ocean testing
  • 7m autonomous sail boat for:
  • Trans-pacific
  • Circumnavigation
  • Marine sensing etc.
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More Information & Help Needed

  • We need programming help!
  • Hackerbot Labs blog:

http://www.hackerbotlabs.com/category/hackerboat/

  • Hackaday.io site: https://hackaday.io/project/8522-hackerboat
  • Github: https://github.com/JeremyRuhland/hackerboat
  • We need money!
  • Paypal: hackerboatproject@gmail.com
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Acknowledgements – participants, contributors, photographers and other helpful folks

  • Jeremy Ruhland
  • Alex Chuang
  • Wim Lewis
  • Myles Conley
  • 3ric Johansen
  • Joe ‘Volty’ Hemmerlein
  • Jenny Hu
  • Catherine S Nichols
  • Hackerbot Labs
  • Frank Heidt
  • Ratha Grimes
  • Becki Brotman
  • Zach Archer
  • Mark Stribling
  • George P Nichols
  • Metrix Create:Space
  • Beagleboard.org
  • Arduino.cc