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CMU–Voyager. Instrumenting for Pollution and Energy Consumption. Team Members. Pratik Agarwal Alex Eiser Gary Feigenbaum Yuan-Ning “Richard” Hsieh Gregor Kronenberger Kietae Park Asad Samar Kristen Stubbs. Overview. Overview: Goals. Instrument Voyager to monitor

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Presentation Transcript
cmu voyager
  • Instrumenting for Pollution and Energy Consumption
team members
Team Members

Pratik Agarwal

Alex Eiser

Gary Feigenbaum

Yuan-Ning “Richard” Hsieh

Gregor Kronenberger

Kietae Park

Asad Samar

Kristen Stubbs

overview goals
  • Instrument Voyager to monitor
    • Propulsion power generation
    • Energy Consumption
    • Energy Efficiency
    • Fuel Consumption
overview goals5
  • Provide a means to view this data
    • For instructors:
      • Teaching tools
    • For the crew:
      • Visualize the information gathered
      • Provide ability to perform basic analysis
  • Provide insights for the new Voyager
overview system architecture
Overview:System Architecture
  • Three subsystems
    • Network of sensors
      • Fuel flow rate
      • Electricity sensors
      • GPS sensor
    • Scientific visualization tool for the crew
    • “Dashboard” interface for students
overview design process
Overview:Design Process
  • PHASE I:
  • Understand the problem
  • Create a visionary scenario
  • Propose an initial solution


  • Create a concrete design
  • Start on implementation
  • Discover and solve problems
  • Update design


  • Complete implementation
  • System integration and testing
  • Demonstration
final prototype
Final Prototype
  • Application Launcher
system architecture application launcher10
System Architecture: Application Launcher

Wait until

Status turns green



final prototype15
Final Prototype
  • Scientific Visualization
data visualization single dimension
Data Visualization:Single Dimension
  • Web interface to view data
  • Works in IE 6/ Opera 7.5/ Mozilla
  • Requires Javascript for date selection
  • Shows one-dimensional data vs. time
data visualization
Data Visualization
  • Choose Sensor
    • Speed
    • Electrical
    • Fuel consumption
    • Not pollution
data visualization18
Data Visualization
  • Select date
    • using a dropdown
    • using the calendar
data visualization19
Data Visualization
  • Select date
    • using a dropdown
    • using the calendar
excel export
Excel Export
  • Link in graph display
  • Exports directly to an Excel file for further analysis
excel export24
Excel Export
  • Link in graph display
  • Exports directly to an Excel file for further analysis
excel export25
Excel Export
  • Link in graph display
  • Exports directly to an Excel file for further analysis
current sensors
Current Sensors
  • Self-powered so can be left permanently running
  • Output between 0-5V depending on the current flowing through the wire
  • No need to expose the conductor

Electrical Subsystems

Shore Power

Main circuit panel (hallway)





Main distribution






Sensor Placement

Shore Power


Main circuit panel (hallway)










Main distribution





current sensors35
Experiments, first in lab and then on the boat show they are pretty accurate

All data collected in real time now

Seven electrical sensors (worth approx. $700)

Current Sensors
current sensor installation
Current Sensor Installation
  • Current sensors have been installed on the boat, to monitor the following:
  • A/C: 3 units in the main classroom
  • Heating: 2 units in the main classroom and 1 in pilot house
current sensor installation37
Current Sensor Installation
  • Toilet pump: monitors the toilet
  • Engine pump: The bilge pump in the control room
  • Ventilation: Ventilation switch in the control room
flow rate sensor floscan
Constantly monitor one engine

Either engine combination can be monitored

Real time data

Will not block fuel line

Can be installed permanently

Powered by 12V DC

Easily accessible from sensor position

0-5V output

Use Data Acquisition Device to collect data

Approx cost $1,100

Flow Rate Sensor:FloScan
how floscan works
How FloScan Works




floscan installation
  • Forward and Return sensors were placed in fuel line
  • Wires were run to the starboard side under the floor
  • Wires are not visible for 90 % of path and do not interfere with engines
floscan installation44
  • The monitor is mounted on the starboard side wall
  • Wires run to the 12 V DC power supply and to the DAD
data acquisition data acquisition device47
Data Acquisition:Data Acquisition Device
  • 0-5V input
    • 11 channels
  • RS232 output
  • Requires power supply, some interface cards and cables
data acquisition data acquisition device48
Data Acquisition:Data Acquisition Device
  • Experiments in the lab and on the boat have shown that this works fine with the current sensors
  • 1 device costs $90 with the power supply.
data acquisition installation
Data Acquisition:Installation
  • DAD has been installed on the boat.
  • Input from flow rate and current sensors, output to PC
data acquisition i o module51
Data Acquisition:I/O Module
  • Specialized Application
    • Interfaces with DAD & GPS
    • Communicates with sensors using virtual COM ports through the DAD
    • Gathers data from sensors and GPS
    • Storesdata in our database
    • Written in Java
gps overview
  • GPS
    • Used to track movement of Voyager
      • Distance traveled
      • Speed
      • Location – Longitude, Latitude
  • Able to take accurate measurements
  • Report data in real time
  • USB port used as Virtual Com Port
gps product
  • Rayming TN-200
    • Track up to 12 satellites
    • Built-in antenna and waterproof
    • Magnet included for mounting
    • USB output, NMEA data format
gps implementation
  • We plan to place the GPS sensor in the open where it can easily communicate with satellites
  • Testing shows accurate results for speed and location
  • Data is updated in our database every 10 seconds
mathematical model overview
Mathematical Model:Overview
  • RPM as a function of fuel rate
  • Pollution
mathematical model rpm vs fuel rate
Mathematical Model:RPM vs. Fuel Rate
  • Used one of two engines to get the mathematical model
  • Turned on the engine at a certain RPM to get the fuel rate and plotted RPM as a function of the fuel rate
mathematical model rpm vs fuel rate62
Mathematical Model:RPM vs. Fuel Rate
  • From the table above, we derived the following formula
  • Y = -1812.5*(X^4) + 6744.9*(X^3) - 8322.2*(X^2) + 4325.9*X + 4.1796 R2 = 0.9993 Where Y = RPM; X = Fuel Rate
mathematical model pollution
Mathematical Model:Pollution
  • Emission Model
  • In order to understand the emission model, we have to look at the relationship between the RPM and the engine power.
  • We can derive the engine power value with respect to the value of the RPM when the engine is running
mathematical model pollution64
Mathematical Model:Pollution
  • RPM vs. Engine Power
mathematical model pollution65
Mathematical Model:Pollution
  • Emission model
    • CO = 1110 * engine power / 174
    • HC = 83 * engine power / 174
    • NOX = 2190 * engine power / 174
    • SO2 = 310 * engine power / 174
    • PM = 69.948 * engine power / 174
  • Output in grams/hour
system architecture68

Data Input from sensor devices

IO Module

Application to input data into the database


Stores both long term and real time data

Dashboard Application

Display the real time data

System Architecture
system architecture data flow explained
System Architecture: Data Flow – Explained
  • User Input chooses:
    • Recorded data
      • Toilet flushes
      • Revving the engine
      • Turning on the AC
    • Real-time data from sensors
      • Devices connected to the electrical system and engines
system architecture data flow explained71
System Architecture: Data Flow – Explained
  • Realtime Data Store
    • Holds a recent history of sensor activity
  • Permanent Data Store
    • Holds the long term history
  • Interesting Data Store
    • Holds pre-recorded data
      • Used to help explain how activity impacts the environment
system architecture dashboard design explained
System Architecture: Dashboard Design – Explained
  • IFLogic
    • Controls complete application function
    • Uses a timer to control updating GUI and accessing the database
    • As data changes in the database, individual components are notified
system architecture dashboard design explained74
System Architecture: Dashboard Design – Explained
  • Observers
    • Are notified when a database change has occurred
    • Fetch new data
    • Perform required conversions
    • Notify Viewers that new data is available
system architecture dashboard design explained75
System Architecture: Dashboard Design – Explained
  • Viewers
    • Responsible for displaying Dashboard information
    • Interface with Observers for fetching data
    • Perform any analysis
  • Computer (from previous year)
    • Database
    • Data Visualization
    • Dashboard
  • Electrical sensors: 7 ammeters
  • Engine sensor: 1 Fuel flow meter
  • GPS sensor: 1 sensor
  • Data Acquisition Devices: 1 DAD

Final Presentation and Demonstration:


Final Report and User Manual:

May 6

  • On board Voyager