2026-09-18T20:52:36Zhttps://ecommons.cornell.edu/server/oai/requestoai:ecommons.cornell.edu:1813/1144142026-05-15T19:41:56Zcom_1813_35col_1813_47
Zheng, Erhe
Ruina, Andy
Bewley, Gregory
2024-04-05T18:36:02Z
2024-04-05T18:36:02Z
2023-08
ProQuest Submission ID: 11865
ProQuest Publication ID: 30572232
https://hdl.handle.net/1813/114414
https://doi.org/10.7298/vba2-4g40
16219218
60 pages
Supplemental file(s) description: remote control1, new scheudler, remote control2.
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
Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/
Air rudder
Embedded system
Remote control
Sail boat
System scheduler
Updating the Embedded System of an Autonomous Sailboat
dissertation or thesis
https://newcatalog.library.cornell.edu/catalog/16219218
application/pdf
video/mpeg4
Mechanical Engineering
Cornell University
Master of Science
M.S., Mechanical Engineering
https://hdl.handle.net/1813/59810.2
Publication
Cornell Theses and Dissertations
Zheng, Erhe
5893a6ea-7af3-41d7-abc6-04bcd26ab5df
open.access
open.access
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<Keyword>Air rudder</Keyword>
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<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.</Abstract>
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