Updating the Embedded System of an Autonomous Sailboat

Zheng, Erhe

Updating the Embedded System of an Autonomous Sailboat

dc.contributor.author	Zheng, Erhe
dc.contributor.chair	Ruina, Andy	en_US
dc.contributor.committeeMember	Bewley, Gregory	en_US
dc.date.accessioned	2024-04-05T18:36:02Z
dc.date.available	2024-04-05T18:36:02Z
dc.date.issued	2023-08
dc.description	60 pages	en_US
dc.description	Supplemental file(s) description: remote control1, new scheudler, remote control2.	en_US
dc.description.abstract	The robotic and bio-mechanics lab proposed a sailboat design in which the rudder control surface operated in the air, rather than in the water, resulting in a dynamically stable sailboat with respect to the relative wind. The boat design has taken shape. In terms of hardware, some components have been designed, manufactured, or purchased and assembly has been completed. On the software side, a complete embedded framework has been developed, corresponding to many executable tasks.The thesis focuses on optimizing and improving certain tasks of the embedded boat. This includes adding a resend function to the Communication Task, introducing a Remote Control Task, and designing a new scheduler for task execution. Considering the robustness of the embedded system, it is essential to address the possibility of signal loss during transmission by implementing the single message transmission. Relying on algorithm control for the sail and rudder is insufficient to handle unexpected situations and meet specific requirements. The old RTOS scheduler also posed issues with task sleep. Considering these considerations and issues, the addition of the resend function ensures multiple transmissions of information, enhancing reliability. The Remote Control Task, in conjunction with the Course Algorithm Task, determines the steering of the sail and rudder. The new scheduler governs the task execution sequence to ensure smooth system operation. The relevant updates have been incorporated into the boat's system, and appropriate testing has been conducted. Some functionalities of the boat have been improved and optimized. However, there are more ongoing testing activities that need to be completed.	en_US
dc.identifier.doi	https://doi.org/10.7298/vba2-4g40
dc.identifier.other	Zheng_cornell_0058O_11865
dc.identifier.other	http://dissertations.umi.com/cornell:11865
dc.identifier.uri	https://hdl.handle.net/1813/114414
dc.language.iso	en
dc.rights	Attribution 4.0 International	*
dc.rights.uri	https://creativecommons.org/licenses/by/4.0/	*
dc.subject	Air rudder	en_US
dc.subject	Embedded system	en_US
dc.subject	Remote control	en_US
dc.subject	Sail boat	en_US
dc.subject	System scheduler	en_US
dc.title	Updating the Embedded System of an Autonomous Sailboat	en_US
dc.type	dissertation or thesis	en_US
dcterms.license	https://hdl.handle.net/1813/59810.2
thesis.degree.discipline	Mechanical Engineering
thesis.degree.grantor	Cornell University
thesis.degree.level	Master of Science
thesis.degree.name	M.S., Mechanical Engineering