Date of Award

6-2024

Document Type

Thesis

Publisher

Santa Clara : Santa Clara University, 2024

Department

Mechanical Engineering

First Advisor

Christopher Kitts

Second Advisor

Michael Neumann

Abstract

The ocean covers 71% of the earth’s surface. With its vast size, it produces almost half of the world’s oxygen, is a source of food, and controls the climate. As humans, it is vital to our way of life. Thus, institutions and organizations have been built in order to study and conserve it; one such organization is the Monterey Bay Aquarium Research Institute (MBARI). A method available to them is the use of drone imaging over the ocean’s surface. However, drones have a limited battery life that restricts the scope of missions they can pursue. A solution that we have provided is DOLPHIN, an autonomous drone landing platform capable of expanding the area that drones are able to study.

The current iteration of DOLPHIN utilizes the vessel of a small-waterplane-area-twin-hull (SWATH) design of a previous senior design project started in 2005 and builds upon it. Repairs to its frame were made to ensure it is seaworthy. DOLPHIN consists of three main subsystems: propulsion, automated navigation and the landing platform. All three subsystems were developed into a cohesive design. The propulsion subsystem focused on the motor controller used, thrusters used, thruster layout, as well as the number of thrusters used. The second subsystem, the automated navigation system, focused on developing capabilities such as Global Positioning System (GPS) waypoint guidance, holding position capabilities, and a switch between manual control and dead modes. The third subsystem, the landing platform, focused on developing the platform itself, which is stabilized using linear actuators, and the frame that supported the assembly. Frequent tests at Alviso Boat Ramp and in Bethany Reservoir confirmed an acceptable stabilizing landing platform and autopilot with station keeping. Further developments to the project would include improving station keeping capabilities and refining the subsystem’s electrical and software features.

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