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KATIE TSE - PRESIDENT
STEVEN HUA - CTO
JUSTIN CHAN - CCO
EMMA CHADSEY - COO
JULIE ATHERTON - CEO
SPONSORED BY
CONFIDENTIAL
P5 NORTH SEEKING GYROCOMPASS
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Team ProfileJulie Atherton, CEO◦ Electronics and Hardware
Emma Chadsey, COO◦ North Seeking Calculations and User Interface
Steven Hua, CTO◦ North Seeking and Rotary Leveling Platform Software
Katie Tse, President◦ Mechanical Design and Rotary Leveling Platform Software
Justin Chan, CCO◦ Mechanical Design and Rotary Leveling Platform Software
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Presentation Overview
Introduction
Project Motivation
Technical Case
Business Case
Summary
Questions
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Introduction
North Seeking Gyrocompass
used to find
True North in Marine Navigation
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Company Background & Project Motivation
◦ How Notos Came to be
◦ Our relationship with Think Sensor and Pavel Haintz
◦ Determination of the P5 North Seeking Gyrocompass
as a project for our company
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Notos Greek God of the South Wind
Using Gyroscopes for North Finding
◦ Red arrow – sensing axis of gyroscope/direction of compass
◦ Θ – Heading
◦ Φ - Latitude
Calculation of Heading
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Using Gyroscopes for North Finding
Calculation of Heading
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𝜔 = Ω𝑒 cos 𝜃 cos(𝜙)
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◦ P5’s Two Main Modules◦ North Seeking Unit
◦ Rotary Leveling Platform
◦ Minor◦ Interface
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Design Overview
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North Seeking Unit ◦ True North seeking via gyroscope instead of
magnetic North
◦ Mounted on a rotation table and a leveling platform
◦ Originally specified as having 2 degrees of accuracy
◦ Not achieved, due to unanticipated electrical noise
◦ Could theoretically achieve 2 degrees of accuracy with current setup – would need to add advanced digital filter
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North Seeking Unit Flow
◦ Currently using personal computer for control and calculations
◦ Constantly gathers data via SPI with the AD converter
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North Seeking Unit Calculations
◦ Calculation of heading is based on four measurements◦ Measurement1 = EarthRate1 + ConstantError1
◦ Measurement2 = EarthRate2 + ConstantError2
◦ Measurement3 = EarthRate3 + ConstantError3
◦ Measurement4 = EarthRate4 + ConstantError4
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North Seeking Unit Calculations
◦ Using this system allows canceling constant error because:
◦ EarthRate1 = -EarthRate2
◦ ContantError1= ConstantError2
◦ Same for measurements 3 and 4
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North Seeking Unit Calculations
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𝜃 = atan𝑀𝑒𝑎𝑠3 −𝑀𝑒𝑎𝑠4
𝑀𝑒𝑎𝑠1 −𝑀𝑒𝑎𝑠2
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User Interface
◦ Design here is based on previous version of P5, where calibration for bias was done at start up
◦ UI not used for current version of P5 due to last minute changes in software
◦ Designed using Windows Forms
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Rotary Leveling PlatformPurpose:
◦ Keeps North Seeking Unit parallel
to horizontal plane
Components:
◦ Three Servo Motors (Roll, Pitch, Yaw)
◦ Three Structural Brackets
◦ Sensor Shield Development Board
◦ Microcontroller
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Platform Algorithm
◦ Maintains a leveled surface in pitch and roll
◦ Platform rotates 90⁰ in yaw every 20 seconds
Ex. 0 ⁰ -> 90⁰ -> 180⁰ -> 270⁰
◦ Motor Benefits:◦ Broadcast capabilities
◦ Feedback
◦ Precision of 0.088°
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Project Costs◦ Sponsored by ThinkSensor
Research
◦ N/A , TSR
◦ Additional Costs will be subsidized by Notos’ team members
Part Estimated Cost Actual Cost
Microcontroller Set $100 $63
Misc. Electrical
Components
$50 $25
Independent Power
Source
$50 TSR
MEMS Gyroscope $2000 N/A
Mechanical Parts $30 $60
2-Axis
Accelerometer
$30 (microcontroller set)
Motors $40 $177
Enclosure - $182
Contingency 10% $230 -
Total $2530 $517.00
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Schedule
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Plan Actual Actual (beyond plan)
ACTIVITY Proposed Actual SeptOct Nov Dec Jan Feb Mar Apr
38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Planning Phase 10/15/15 10/15/15Research Phase 1/22/16 3/28/16Ordering Parts 3/31/16 3/24/16Proposal 12/2/15 1/25/15Preliminary Testing of Chips 1/15/15 1/25/15Functional Specification 1/26/16 2/15/15North Seeking Algorithm 1/22/16 3/18/16Design Review 2/10/16 2/26/16Mechanical Design of Platform 2/22/16 3/21/16Testing of Platform 2/12/16 4/1/16Testing of North Seeking Unit 2/19/16 4/1/16Design Specifications 3/2/16 3/7/16Integration of Project 2/29/16 N/AWritten Progress Report 3/16/16 3/28/16Presentation 3/31/16 4/4/16Post-Mortem 3/24/16 4/4/16
Business Case1. Market Research
◦ $4.63 billion in 2015, $8.87 billion by 2020(MarketsandMarkets, 2015)
2. Industry Requirement◦ Regulation requiring gyrocompasses aboard vessels
3. Improvement in Technology ◦ Accuracy achievable for industrial grade gyrocompasses
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Competitive Advantage of P5Major:◦ Potentially Higher Accuracy
◦ Lower Costs
Minor:
◦ Decreased Power Consumption
◦ Reduced Size
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CompetitionConventional Mechanical Gyrocompasses:
◦ ex. Ring Laser, Fiber Optic etc…
◦ Large, bulky, long startup calibration times
Magnetic Compasses:◦ Magnetic Interferences (ex. Phone)
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Contemporary Prices◦Conventional Mechanical Gyrocompasses ($20,000 -
$30,000USD)
◦Proof of Concept Cost: $____CAD
◦Proprietary
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Issues/Next Steps◦ Current P5 System
◦ Modifications to ADC & Platform
◦ Future of P5
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Future P5 North Seeking Gyrocompass Contained Unit
What Was Learned◦Team Dynamics
◦Approach to Engineering Design
◦The phrase "It should be easy" and everything it entails
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Conclusion
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AcknowledgementsPavel Haintz – TSR (CEO)
Steve Clarke – Silicon Sensing (Application Engineer)
Capstone Instructors/Staff:◦ Andrew Rawicz
◦ Steve Whitmore
◦ Jamal Bahari◦ Hsiu-Yang Tseng
Lucky One
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ReferencesFranchise opportunities with Lower cost and Higher profits | FranchiseZing. (n.d.). Retrieved April 05, 2016, from http://www.franchisezing.com/franchise/franchise-opportunities-with-lower-cost-and-higher-profits/
Clarke, S. (2013, December). Inertial Technology For North Finding. Retrieved from http://www.siliconsensing.com/media/310275/SSSL-Inertial-Technology-for-North-Finding-11-Dec-2013.pdf
Compass Adjuster-Australia - AMSA licensed compass adjusting service. (n.d.). Retrieved April 05, 2016, from http://www.compassadjuster.com.au/
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