Goal of FIRM IV
FIRMIV designed ARTEMIS to meet the general criteria outlined in the Design Specifications. The following list defines success for the fully integrated device:
- Component Cost
- Aquadrone Weight
- Aquadrone Transportation/Cargo Dimensions
- Maneuverability-Linear Movement
- Maneuverability-Turning Radius (Clockwise & Counterclockwise)
- Trash Intake
1) Component Cost
For this specification, we desired to have ARTEMIS cost less than $800 to build and certainly no more than $3,000 to build. The current price of the build is approximately $1200.
| Electrical Parts | Part Labels | Price | Mechanical Parts | Part Labels | Price |
|---|---|---|---|---|---|
| Amazon – RC controller and camera w/ 5.8Ghz TX | (53.56) | Bulk ME build parts | (95.52) | ||
| Amazon – video 5.8GHz RX | (34.12) | (RETURNED 2′ PIPES) | 17.40 | ||
| PVC Pipe and Fittings | (42.32) | Repurchasing 10′ abs pipe | (16.89) | ||
| Amazon – video 5.8GHz receiver, AV to HDMI adapter, 3S lipo battery | (53.24) | Linear rails | (36.32) | ||
| Amazon – 12V Underwater Thruster ($63.85) | Paracord | (5.48) | |||
| Amazon – 40A RC Brushless Motor Electric Speed Controller | (23.66) | D ring hangers/ carabiners | (10.07) | ||
| Amazon – Runcam 5.8GHz video transmitter | (18.45) | Mesh Dunk/chum bag | (12.00) | ||
| Amazon – 2x 1S lipo battery, Foxeer Razer mini cam | (37.40) | Folding shelf brackets | (30.80) | ||
| Amazon – ESC (x1), BMS (x2), connectors | (44.56) | Handy panel- 3/4 2/4 Sande Plywood | (25.65) | ||
| Chicago Electronics – Adafruit GPS module & adapter cable | (52.53) | Clear Acrylic Sheet .093″x20″x32″ x 2 | (120.07) | ||
| Battery Junction – Li-Ion batteries (x14) | (58.57) | 1″ Hex Neo Washer Screw 1lb | |||
| Vruzend – battery building kit, charging connector | (61.78) | Black 3″ Corner Brace x 2 | |||
| (Kellie Purchase) | (138.00) | Flex Seal 14oz | |||
| Semi-Transparent Acorn Brown Olympic Waterguard Stian | |||||
| 3/4 x 4 x 8ft Cedar Board x2 | |||||
| Black 3″ Corner Brace x 2 | (57.79) | ||||
| Varathane Red Mahogony Stain | |||||
| Exterior Clear Waterbase | |||||
| 3 Foam Brushes 2″ | |||||
| 3 Foam Brushes 3″ | |||||
| (RETURNED EXTERIOR CLEAR WATERBASED) | 20.18 | ||||
| Varathane Oil-Based Spar Urethane | (36.00) | ||||
| 1-5/8″ Construction Screws 1lb | |||||
| 3/4 x 4 x 8ft Cedar Board | |||||
| Polycase | (92.00) | ||||
| cast fishing net (Amazon) | |||||
| Hex Bolts and Nuts | (1.66) | ||||
| 2 Straps | (6.00) | ||||
| 2 Screw Eye | (13.17) | ||||
| 2 pack S Biners | |||||
| Chain | |||||
| Magnolia Hardware-Bolts, Nuts, and Flex Tape | (23.80) | ||||
| Flex Tape | (14.14) | ||||
| Handles | |||||
| Pipe and Caps | |||||
| Keith Lunch | (14.30) | ||||
| Nuts and Bolts | (7.85) | ||||
| Kiddie Pool | (22.04) | ||||
| Drop Seat Table Support | |||||
| Trycolling 2 pack | (18.72) | ||||
| LED lights | (25.48) |
| Total | $1292.77 |
2) Aquadrone Weight
For this specification, the aquadrone needed to weigh no more than 30 pounds to stay user friendly. Because our device is too big to simply put on a scale, we decided to take the weight difference between a teammate with and without ARTEMIS. The weight came in around 30 pounds exactly, meaning that we have met this specification.
3) Aquadrone Transportation/Carge Dimensions
We wanted our device to be as user friendly as possible, fitting into any trunk. We researched typical cargo trunk space in SUV’s and sedan’s and decided that a maximum of 10 cubic feet would be a good aim, but ideally we would like to shoot for 4 cubit feet. With our clever foldable engineering design using wooden panels and hinges in tandem with our pontoon design, we used the benchmark of 4 cubic feet to help determine the dimensions of our product, shown in the pictures below. The folded design results in 3.65 cubic feet, confirming we have met this specification.
Volume=W x H x L
Folded Volume
Volume=(25.5in)(20in)(30in)=15,300 in^3=8.85 ft^3
Unfolded Volume
Volume=(10.5in)(20in)(30in)=15,300 in^3=3.65 ft^3
4)Maneuverability-Linear Movement
For this specification, we needed to observe the movement of ARTEMIS in the water as we performed other tests. The goal is for the device to consistently move in a straight line when both propellers are powered. This was a simple test that we are deeming complete due to the other video evidence provided.
5) Maneuverability-Turning Radius
For this specification, we needed to test if ARTEMIS can make a reasonably tight and controlled turn in the water. Because ARTEMIS is going to be operating near docks and water banks, we wanted ARTEMIS to be fairly nimble. We opted for a differential propeller design with the hope that ARTEMIS could use reverse and forward at the same time to turn on a pivot. However, we were not able to get the software and firmware to work in reverse with our propellers. We still needed to meet about a 3 foot turning radius, and the following video shows our success of achieving a 3ft turning radius:
6) Trash Intake
For this specification, we needed to make sure ARTEMIS can intake trash passively without assistance, proving full operation of the device in the water. With the video provided below, we are confident in passing this specification.