1. Lance Ellerbe - BS EE Jamal Maduro - BS CpE Peter Rivera - BS ME Anthony Sabido - BS ME 1

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3. Project Overview Develop a self-contained network of tracked surface drifters for near coastal application. Housing Electronics Power System GPS receiver Radio transceiver Microcontroller Any of these drifters within range of the base station will then be able to send all the information from all other drifters, thus providing a self-contained drifter network. Many such drifters are deployed globally by the National Oceanic and Atmospheric Administration (NOAA) as part of the world climate observation program. 3

4. Electrical Components Microcontroller: TI (Texas Instruments) MSP430G2553 microcontroller Radio Transceiver XBee-Pro XSC RF module’s GPS module: Maestro A2100 Battery Lithium ion Temperature Sensor Maxim DS18B20 4

5. General Layout 5

6. Color Coded Circuit Connections 6

7. Engineer: Jamal Maduro 7

8. Microcontroller 8

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10. MSP430G2553 Functional Block Diagram 10

11. Microcontroller Clock Speed - Voltage 11

12. Microcontroller Clock Speed - Current 12

13. Microcontroller Low Power Modes 13

14. 14 System Flow Chart

15. Microcontroller Architecture 15

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17. XBee Functional Block Diagram 17

18. XBee Modes of Operation 18

19. XBee Transmit State Machine 19

20. XBee Receive State Machine 20

21. XBee Data Verification Chain 21

22. XBee Pin Out Table 1 22

23. XBee Pin Out Table 2 23

24. Radio Transceiver Output power(P t ) = 30dbm (1W) Transmitting Gain(G t ) = 16 dBi Receiving Gain (G r )= 16 dBi Frequency Band = 902 – 928MHz ISM Band Distance (d)= 15 miles (24.14016 kilometers) 24 = -57.348dBm

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26. GPS Diagram 26

27. GPS Pin Out Table 1 27

28. GPS Pin Out Table 2 28

29. Engineer: Lance Ellerbe 29

30. Temperature Sensor Overview Compared to the thermistor, the DS18B20 has memory and thus the temperature can be held until a more convenient time when the data can be logged. 1 temperature reading per GPS fix 30

31. Temperature Sensor Maxim DS18B20 Power Supply Range is 3.0V to 5.5V Can read temperatures from -55°C to +125°C (-67°F to +257°F) with an accuracy of ±0.5°C from -10°C to +85°C Converts Temperature to 12-Bit Digital Word in 750ms (Max) 31

32. Temperature Sensor Interfacing Maxim DS18B20 Digital temperature sensor that uses serial communication through the DQ pin. The DQ pin operates in half duplex and therefore cannot receive and send data at the same time. 32

33. Temperature Sensor 33 Interfacing Maxim DS18B20

34. Temperature Sensor 34

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36. Power Systems Overview Low Power Consumption Each must be able to operate on 3.3V maximum. The drifter network will be designed to use the least amount of power when transmitting data. The power supply will be selected in order to supply the adequate amount of amp-hours in order to provide enough current for each electrical component to be operational throughout its 15 day deployment. 36

37. Power Systems Current Component Selection PROGRESS: Xbee Operation Voltage: 3.0 -3.6VDC Current Draw: Transmitting current: 256mA Receiving Current: 50 mA Maestro A2100-A/B Operation Voltage: 3.0V - 3.3VDC Current Draw: Peak Acquisition Current 45mA Microcontroller Operation Voltage: 1.8V - 3.6V Active mode: 230uA Standby Mode: 0.5uA 37

38. Power Systems Ideal Battery Configuration Parallel configuration would be ideal to increase the amount of Amp- Hours to supply the adequate amount of current to Microcontroller, GPS module, Radio Transceiver and Temperature Sensor for a 15 day period. 38 EXAMPLE

39. Power Systems Voltage regulation If battery chosen has a nominal voltage of more than 3.3 V, a voltage regulator will need to be implemented to maximize battery life and supply the correct operating voltage to the components. 39

40. Power Systems Voltage Regulator MAX882/MAX883/MAX884 line regulator The regulator input supply voltage can range from 2.7V to 11.5V Low Dropout Voltage: 220mV Fixed Output voltages: 3.3V and 5V 40

41. Power Systems PCB protection Lithium Ion batteries must connect to a protection circuit module to protect Li-Ion Battery from overcharge, over discharge and to prevent accidental battery explosion due to its extra high energy density. 41 Battery

42. Power Systems Testing/ Verification The testing of this task will include a number of power consumption tests. First, each electrical component will be attached separately to a multimeter or oscilloscope to validate that the component is operating within its electrical specifications. Second, based on the results in the previous step the results can be then used to tweak network parameters such as transmission time or microprocessor algorithms in an attempt to lower power consumption and increase theoretical operation time. 42

43. Power Systems Risk: Temperature affecting battery characteristics 43

44. Power Systems LiFePO4 Rechargeable 26650 Cell Nominal Voltage3.2 V Capacity 10000mAh Operation Temperature Discharging: - 10 - 60 o C (14 - 140 o F) Max. Discharging current 10 A Energy density 163.17 wh/kg Price$22.95 44 Xeno AA Size 3.6V Lithium Battery XL- 060F Nominal Voltage3.6V Capacity 2400mAh (2.0V cut- off) Operation Temperature Discharging: -55 o C - 85 o C (140F) Max. Discharging current 100mA Price$3.49 Once all component selection has been finalized, the battery will be chosen based the voltage needed and the highest mAh that can be found.

45. Engineers: Anthony Sabido and Peter Rivera 45

47. Concept Designs Cylindrical Design Block Design Semi-Spherical Design Spherical Design

48. Deciding Factors Cost The most critical factor. We can change the amount of material used and needed, but we can’t change the amount of money allotted. Stability Each design has it’s strengths and weaknesses. Ex: Cylinders bob or tilt back and forth, blocks can snag, and spheres will roll/pitch.

49. Deciding Factors (cont.) Ease of Fabrication There is a risk of losing these at sea or a need for more. The Marine Lab should be able to reproduce them if necessary. Impact Resistance and Weight Each are there own category but carry the same weight in regards to decision making. Increasing impact resistance typically increases weight. However, these are weighted less than the other factors due to their effects on performance and project completion.

50. Cost/Benefit Analysis CostStability Ease of Fabrication Impact Resistance WeightTotalRank (10) (6)(5) Tube Aluminum 7 -70- 1 -10- 6 -36- 2 -10- 3 -15- 14111 Glass-Fiber 10 -100- 2 -20- 4 -24- 1 -5- 6 -30- 17910 Carbon-Fiber 2 -20- 3 -30- 3 -18- 3 -15- 10 -50- 13312 Block Aluminum 8 -80- 4 -40- 5 -30- 5 -25- 2 -10- 1859 Glass-Fiber 11 -110- 5 -50- 12 -72- 4 -20- 7 -35- 2874 Carbon-Fiber 3 -30- 6 -60- 10 -60- 6 -30- 11 -55- 2356 Sphere Aluminum 6 -60- 7 -70- 1 -6- 11 -55- 1 -5- 1968 Glass-Fiber 9 -90- 8 -80- 11 -66- 10 -50- 5 -25- 3112 Carbon-Fiber 1 -10- 9 -90- 9 -54- 12 -60- 9 -45- 2595 Semi-Sphere Aluminum 5 -50- 10 -100- 2 -12- 8 -40- 4 -20- 2227 Glass-Fiber 12 -120- 11 -110- 8 -48- 7 -35- 8 -40- 3531 Carbon-Fiber 4 -40- 12 -120- 7 -42- 9 -45- 12 -60- 3073

51. Overview

52. Major Features: Symmetric Semi-Circular Profile Fiberglass Hull Off-the-Shelf Deck Plate Low Cost Easy Fabrication

53. Major Features: Symmetric Semi-Circular Profile Fiberglass Hull Off-the-Shelf Deck Plate Low Cost Easy Fabrication Symmetric Shape Semi-Circular Profile

54. Major Features: Symmetric Semi-Circular Profile Fiberglass Hull Off-the-Shelf Deck Plate Low Cost Easy Fabrication 3 Part Designs Maximum Water Tightness 3 Part Designs Maximum Water Tightness 1.Top 2.Bowl 3.Screw-in Deck Plate 1.Top 2.Bowl 3.Screw-in Deck Plate

55. Major Features: Symmetric Semi-Circular Profile Fiberglass Hull Off-the-Shelf Deck Plate Low Cost Easy Fabrication 123 1.Top 2.Bowl 3.Screw-in Deck Plate 1.Top 2.Bowl 3.Screw-in Deck Plate

56. Material Selection

57. Fiberglass Low Density: Cloth: 2.6 g/cm 3 Resin: 1.3 g/cm 3 Low Cost 205-B Slow hardener (0.86qt.): $45.99 105-B Epoxy Resin (1 gal): $99.99

58. Sealing the Hull 6” diameter deck- plate Screw-on design Made of Durable ABS plastic O-ring for water tight seal Low cost - $15.99

59. Dimensioning the Hull

60. Volume of water needed to be displaced: Density of water (not salt water) at 30 degrees Celcius: Calculating Buoyancy

61. Mass Calculations Component Mass (New) Antenna9.1g GPS Antenna9.1g GPS Module4.5g Radio Transceiver4.5g Batteries (2)45.4g Board40.0g Deck Plate309.7g Hull1401.5g Total1823.8g

62. Water Displacement V water Volume of water needed to be displaced (V water ) is 1.831 x 10 -3 cubic meters.

63. Dimensions - Drifter

64. Performance Analysis

65. Testing in Detail Floatation – Check water level. Our goal is to have the drifter sit low enough in the water to avoid wind drag but not too low that it loses stability. The Diameter can be increased or decreased to effect floatation.

66. Testing in Detail Wavelength and Frequency We want to avoid accidentally matching the wavelength of the test area witch would amplify the amount of roll that the drifter experiences. An optimal diameter would be 1.5 – 2 times the wavelength but we have not determined the approximate wavelength of the test area and can not compare the data at this moment.

67. Testing in Detail Adjusting the diameter however, risks our balance with the wavelength, instead we can also adjust the vertical profile of the drifter. For example, we can make it more cylindrical to the top and bowl-like at the bottom. This change allows us to change the volume of water that we’re displacing allowing for a change in water level.

68. Testing in Detail Dr. Oats Vibration testing was initially one of our determined test methods but after discussing the pros and cons we determined it was not worth pursuing. Impact testing was also examined but we believe our electronics will fail before the hull fails, therefore, any testing would be to determine the limit of the electronics. This test would require us to purposely destroy valuable material.

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71. Technical Risk 71 RiskExceeding baud rate limits ProbabilityLow ConsequenceSevere Mitigation Strategy Obey the baud rte limits for each component RiskMCU communication function is unavailable ProbabilityLow ConsequenceMinor Mitigation Strategy Communication can be implemented with a “bit banging” method using general purpose pins

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73. Schedule Risk RiskPersonal Emergencies ProbabilityModerate ConsequenceSevere Mitigation StrategyA strategy to manage this risk would be to ensure that all files used by all group members can be accessible no matter who is not available. 73 RiskResource Availability ProbabilityModerate ConsequenceModerate Mitigation StrategyA strategy to assessing this risk would be to accommodate this possible setback in the group's schedule.

74. Schedule Risk RiskUnderestimate Microcontroller Software Creation ProbabilityHigh ConsequenceModerate Mitigation StrategyGive the programmer more than expected time to program the microcontroller to ensure they can finish without extending other deadlines. 74 RiskMarine Lab Changes Preliminary Requirements ProbabilityLow ConsequenceSevere Mitigation StrategyStay in contact with the FSU Marine Lab to ensure that if any changes are made in the requirements we will be knowledgeable of the changes and access them as soon as possible.

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76. Budget Risk RiskOut of Stock Components ProbabilityLow ConsequenceModerate Mitigation Strategy Looked up several different products and vendors in case our first choice is not available. 76 RiskReplacing Lost/Damage Components ProbabilityLow ConsequenceSevere Mitigation StrategyHandle the components carefully and keep them in their original packaging for safekeeping.

77. Budget Risk 77 RiskRequiring Developmental Tools ProbabilityHigh ConsequenceSevere Mitigation Strategy We plan to avoid the risk by adapting a current breadboard and printed circuit board to avoid further purchases. RiskUnderestimated Quantities ProbabilityModerate ConsequenceSevere Mitigation Strategy We plan to minimize the risk by very carefully calculating the required amount of material needed.

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79. Project Overview - Timeline 79 TASKSTART DATEDURATION (DAYS)END DATEAssigned Team Members Electronic Components: Product Research9/18/2011210/1/2011Lance, Jamal Simulation Programming in MATLAB9/18/20111410/1/2011Jamal Review Wireless Networking Theory9/18/20111410/1/2011Lance, Jamal Meet with Brian Wells9/30/20111 Anthony, Peter Meet with High Performance Materials Institute9/30/20111 Anthony, Peter Meet With Peter Lazarevich9/30/20111 All Reverse Engineer Previous Drifter9/30/20111 All Preliminary Housing Design10/3/2011810/10/2011Anthony, Peter Finalize Electronic Component selection10/3/20111 Lance, Jamal Order Electronic components10/4/20111 Peter Finalize Housing Design10/10/20114511/23/2011Anthony, Peter Measure & Weigh components10/10/20111 All Conceptual Design Review Paper11/17/2011411/20/2011All Hull Design Finalized11/17/20111 Anthony, Peter

80. Timeline Cont. Radio Antenna Selection11/17/2011511/21/2011Lance, Jamal GPS Antenna Selection11/17/2011511/22/2011Lance, Jamal Floatation Testing11/18/2011311/20/2011Anthony, Peter Hull Material Ordering11/21/20111 Anthony, Peter GPS signal testing11/21/2011211/22/2011All Transmission Range Testing 11/29/2011211/30/2011All Start Initial Fabrication of Hull 1/9/2012141/22/2012Anthony, Peter Water Tightness and Flotation 1/16/201271/22/2012Anthony, Peter Housing impact testing2/3/20121 All Prototype Housing Fabrication 2/4/20121 Anthony, Peter Prototype Housing Waterproof Testing 2/5/20121 Anthony, Peter 80

81. Project Overview - Timeline 81

82. Budget 82 ExpensesQuantityUnit PriceTotal Microcontroller8$2.80$25.70 Development Board1$13.69 Radio Transceiver5$39.00$195.00 USB-RS232 Adapter5$11.95$78.53 RS232 Shifter5$13.95$83.59 Radio Antenna5$8.00$40.00 Printed Board5$15.10$75.50 GPS Antenna5$22.95$114.75 GPS Module5$19.44$97.20 Thermistor5$5.00$35.00 Battery10$9.00$100.00 Fiberglass15 sq ft $ 4.74/sq ft $71.10 Fiberglass Resin1 qt$39.99 Fiberglass Hardener0.44 pt$19.99 Deck Plate5$15.00$75.00 Expenses Total $1065.04

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84. 84 Technical Report: “Surface Circulation Study of Waters Near Ochlockonee Bay, Florida” - Peter Lazarevich and Dr. Kevin Speer Project Description : “Tracking the coastal waters: a wireless network of shallow water drifters” - FAMU-FSU College of Engineering

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86. Network – (Legacy Network) 86

87. Network – (Revised Network) 87

88. Temperature Sensor Interfacing Maxim DS18B20 Parasitic Mode Power Supply The DS18B20 can draw power from the DQ data line in parasitic mode without connecting VDD to the drifter system power supply. Direct Power Supply Power Supply Range is 3.0V to 5.5V connected to the V DD pin. 88

89. Power Systems Time of Operation 15 days of operation = 360 hours of operation Required GPS fixes: 10,000 Number of Fixes in 15 days: GPS fix every 2.16 min or greater FCC rule: The average time of occupancy at any frequency must not be larger than 0.4 seconds when using the frequency hopping spread spectrum. Maximum current drawn per transmission/reception of all electrical components: Approximately 336mA 89

90. Power Systems Power supply considerations: (1)Lithium Ion Lithium Manganese Nickel Lithium Polymer Nickel Cadmium (NiCad) Nickel Metal Hydride (NiMH) Photovoltaics 90

91. Power Systems Lithium Ion Battery: These batteries are able to handle excessive current applications. Lithium batteries are great for long-term use. Lithium batteries also perform well in extreme temperatures. Increased life cycles over Nickel cadmium (NiCad) and Nickel Metal Hydride (NiMH) batteries. Lithium ion batteries are also cheaper to manufacture than lithium polymer batteries, so when cost is a factor, lithium ion is the choice. Much lower self-discharge rate than Nickel Metal Hydride (NiMH) batteries. Wide variety of shapes and sizes efficiently fitting the devices they power. 91

92. UART Test Code Part 1 of 3 92

93. UART Test Code Part 2 of 3 93

94. UART Test Code Part 3 of 3 94

95. XBee Module Risks 95 XBee-PRO XSC RF Module Risks 1 If the serial interface data rate is set higher than the RF data rate of the module, the module will receive data from the host faster than it can transmit the data over-the-air. 2 If the module is receiving a continuous stream of data, monitoring data on a network, or awaiting acknowledgments for Retries functionality, any serial data that arrives on the DI pin is placed in the DI Buffer. The data in the DI buffer will be transmitted over-the-air when the module no longer detects RF data in the network. 3 If the RF data rate is higher than the set interface data rate of the module, the module will receive data from the transmitting module faster than it can send the data to the host and data will be lost. 4 If the host does not allow the RF module to send data out of the DO buffer because of hardware or software flow control data will be lost 5 Care must be taken not surpass the XBee's baud rate limit of 56,700 bps or data will have a high chance of being corrupted and the drifter system could be rendered unusable

96. Microcontroller Risks 96 MSP430G2553 Microcontroller Risks 1 The 16 kB flash for storing the main program may be inadequate for unaccounted complexities in the overall integration of the MSP430G2553 with other components 2 The 512 bytes of RAM may be inadequate for unaccounted data that would be beneficial or necessary to store on the MSP430G2553 3 The digitally controlled oscillator (DCO) is sensitive to temperature and may slow down or speed up significantly which may cause all time dependent functions like UART communications to introduce errors into data 4 The amount of pins may be inadequate to fully interface MSP430G2553 with all of the necessary components 5 Since the MSP430G2553's functions are multiplexed there might be a function that is needed but cannot be used because the pin it is on is currently configured as another function. For example, if you need to use both timers but the pin with one of the timers is currently being used as a serial communication device

97. GPS Risks 97 Maestro A2100 GPS Module Risks and Manufacturer Precautions 1 The A2100-A needs an external pull-up resistor to be configured for UART operation. Please consider the pull-up resistor in your design or pull the GPIO up right after reset by other means. 2 The ON_OFF input of the A2100-A needs to be connected to a push-pull output of a microprocessor. For a wake-up, including the initial one after power on, a LOW-HIGH transmission is mandatory. 3 It is recommended to connect the nRST pin of the A2100-A to an open collector / open drain output of a microprocessor! 4 It is recommended to supply Vcc continuously! Use SiRFaware or other low power modes to reduce power consumption of the module while no position information is required. 5 Care must be taken to implement an orderly shut-down sequence along with supplying power for a certain period of time after initiating the shut-down sequence. Abrupt removal or drop of power while the module is running has risks ranging from minor impact on TTFF to fatal corruption of flash memory code area! 6 Generally, the quality of the GPS antenna chosen (passive or active) is of paramount importance for the overall sensitivity of the GPS system. Losses through a bad antenna, long cables or tracks or a bad antenna position can’t be compensated afterwards.