5/8/2021: Final demonstration.

-

First Test, Ocean Steering and Propulsion: Successfully able to propel and steer itself through the ocean in clear weather conditions, done using manual control.

Second Test, COSMOS Uplink: Successfully able to create an uplink to the COSMOS software for data transmission. Increase/decrease in transmitted temperature shown corresponding to sensor input.

Third Test, Deep Water Ocean Autonomy: Using an uplink to automation software (Mission Planner), able to use GPS data to follow a route that returns it to shore. After generating its internal model, which led to some "wandering" in the first few minutes, the boat was successfully propelling itself in the right direction towards shore. However, the drive belt slipped off the motor shaft in the first try. After some troubleshooting and repairs, another deep water automation test was conducted, where the boat was able to return near shore, but not to shore. This would be close enough for it to wash back on shore for recovery, however, did not fully complete the route to the intended destination.

Fourth Test, Autonomy and Range Test: This was a smaller-scale autonomy test to ensure the boat was able to fully complete a small circuit route. The boat successfully completed a circuit around the island and returned back to its starting location.

Overall Thoughts: This UHABS iteration was a successful prototype and proof-of-concept that demonstrated that a small autonomous boat is able to house BalloonSat sensors, withstand a parachute landing into the ocean, and use automation in clear ocean conditions to propel and steer itself towards shore. As a first prototype, there was lots of troubleshooting and repairs that were required throughout the design process. If this project is continued and more design iterations are conducted, the UHABS automated boat has the potential to be fully capable of completing an entire mission, from a near-space BalloonSat launch to an onshore recovery. Some key factors to focus on would be increasing transmission range and power/battery range along with designing a more robust propulsion and steering system.