DESIGN OF AUTONOMOUS SURVEYING BOAT

MODEL
A project report

Submitted by

BEERAN K
ANA 15013

IN FULFILLMENT OF MINOR PROJECT

OF BE in NAVAL ARCHITECTURE & OFFSHORE
ENGINEERING

Department of Naval Architecture and Offshore Engineering

Guided by
Mr. VINOD VINCENT

Academy of Maritime Education & Training University,

Chennai-603 112
DESIGN OF AUTONOMOUS SURVEYING BOAT
MODEL
A project report

Submitted by

BEERAN K
ANA 15013

IN FULFILLMENT OF MINOR PROJECT

OF BE in NAVAL ARCHITECTURE & OFFSHORE
ENGINEERING

Department of Naval Architecture and Offshore Engineering

Guided by
Mr. VINOD VINCENT

Academy of Maritime Education & Training University,

Chennai-603 112

i
 CERTIFICATE

This is to certify that the project entitled “DESIGN OF AUTONOMOUS

SURVEYING BOAT MODEL" submitted by BEERAN K to the Dept. of
Naval Architecture & Offshore Engineering, AMET University, Chennai is a
bonafide record of work carried out by him under my supervision.

Signature Signature

Cdr. PRASHANTH SINGHAL Mr. VINOD VINCENT

(Director of the Dept.) (Asst. Professor)

Department of Naval Architecture Department of Naval Architecture

& Offshore Engineering & Offshore Engineering

ii
 ACKNOWLEDGMENT

It gives me immense pleasure to express my deepest sense of gratitude and sincere thanks
to my highly respected and esteemed guide Mr. VINOD VINCENT of Naval
Architecture & Offshore Engineering department, AMET University, Chennai for his
valuable guidance, encouragement and help for completing this work. His useful
suggestions for this work and co-operative behavior are sincerely acknowledged.

I would like to express my sincere thanks to my guide, the Head of the Department of
B.E. Naval Architecture & Offshore Engineering of AMET University, Chennai for
giving us this opportunity to undertake this project and allowing us to use the facilities of
the department.

My sincere thanks to the staff members whose valuable inputs throughout the project
have helped me reach this point.

At the end I would like to express my sincere thanks to classmates & friends who directly
or indirectly helped for this project work

iii
 ABSTRACT

This project is to design an Autonomous Surveying Boat model. The model can be used
for finding the water depth and so the volume of the dam, pond, swimming pool etc. can
be determined if it travels from one corner to another corner. Project is done with the help
of empirical formula for various ship design books, AutoCAD, Maxsurf and Arduino

The order of the project is as follows:

Ship dimensions are obtained from the existing model. Design of body plan using
AutoCAD and 3D modeling using Maxsurf Modeler. Calculation of sectional area,
Bonjean and Hydrostatics. Calculation of Resistance and powering using Maxsurf
Resistance and Seakeeping Analysis using Maxsurf Motions. Arrangement of the
machines and equipment are defined. Gross weight and cost are estimated.

iv
 TABLE OF CONTENTS

ii.............................................................................................................................................
ABSTRACT.......................................................................................................................iv
TABLE OF CONTENTS....................................................................................................v
LIST OF TABLES............................................................................................................vii
LIST OF FIGURES..........................................................................................................viii

CHAPTER 1: INTRODUCTION

1.1 INTRODUCTION AND OBJECTIVE.............................................................1

1.2 LITERATURE SURVEY..................................................................................2

1.3 STEPPED HULL...............................................................................................4

CHAPTER 2: MAIN DIMENSIONS, BODY PLAN,3D MODELING

2.1 MAIN DIMENSIONS.......................................................................................6

2.2 BODY PLAN.....................................................................................................7

2.3 3D MODELING................................................................................................8

CHAPTER 3: SECTIONAL AREA, BONJEAN & HYDROSTATIC CURVES

3.1 SECTIONAL AREA.......................................................................................10

3.2 BONJEAN.......................................................................................................12

3.3 HYDROSTATICS...........................................................................................13

CHAPTER 4: RESISTANCE & POWERING, SEAKEEPING ANALYSIS

4.1 RESISTANCE.................................................................................................15

4.2 DETERMINATION OF DAMPING COEFFICIENT....................................18

v
 4.3 SEAKEEPING ANALYSIS............................................................................20

CHAPTER 5: BOAT MECHATRONICAL DESIGN

5.1 BLOCK DIAGRAM................................................................................................24

5.2 WEIGHT ESTIMATION........................................................................................25

5.3 COST ESTIMATION .............................................................................................27

CHAPTER 6: SUMMARY AND CONCLUSION

6.1 SUMMARY.............................................................................................................28

6.2 CONCLUSION .......................................................................................................29

REFERENCES..................................................................................................................30

vi
 LIST OF TABLES

Table No. Content Page Number

Table 1.2 Literature Survey 2

Table 2.1 Main Dimension 6

Table 2.2 Offset Table 7

Table 3.1 Sectional Area 10

Table 3.2 Bonjean 12

Table 3.3 Hydrostatics 13

Table 4.1 Resistance & Power 15

Table 4.3 Seakeeping Analysis Input 20

Table 5.2.1 Weight Estimation 25

Table 5.2.2 Sensors 26

Table 5.3 Cost Estimation 27

vii
 LIST OF FIGURES

Figure No. Content Page Number

Fig 1.3 Stepped Hull 4

Fig 2.2 Body Plan 7

Fig 2.3.1 Fore View 8

Fig 2.3.2 Aft View 8

Fig 2.3.3 Starboard Side View 9

Fig 2.3.4 Portside View 9

Fig 2.3.5 Half Breadth view 9

Fig 3.1.1 SAC (AutoCAD) 11

Fig 3.1.2 SAC (Maxsurf) 11

Fig 3.2 Bonjean Curve 12

Fig 3.3 Hydrostatics 14

Fig 4.1.1 Savitsky Planing Resistance 17

Fig 4.1.2 Savitsky Planing Power 17

Fig 4.2.1 Logarithmic decrement method 18

Fig 4.2.2 Roll Damping 19

Fig 4.3.1 RAO’S at 0° heading 21

Fig 4.3.2 RAO’S at 45° heading 22

Fig 4.3.3 RAO’S at 90° heading 22

Fig 4.3.4 RAO’S at 135° heading 23

Fig 4.3.5 RAO’S at 180° heading 23

Fig 5.1 Block Diagram 24

viii
 CHAPTER I

INTRODUCTION

1.1 INTRODUCTION TO AUTONOMOUS VEHICLE

An autonomous vehicle, also known as a driverless vehicle, self-

driving vehicle is a vehicle capable of fulfilling the human transportation capabilities of a
traditional vehicle. As an autonomous vehicle, it is capable of sensing its environment and
navigating without human input. Autonomous vehicles sense their surroundings with such
techniques as radar, GPS, and computer vision. Advanced control systems interpret sensory
information to identify appropriate navigation paths, as well as obstacles and relevant
signage. Some autonomous vehicles update their maps based on sensory input, allowing the
vehicles to keep track of their position even when conditions change or when they enter
uncharted environments.

For any mobile robot, the ability to navigate in its environment is one of
the most important capabilities. In general, the navigation task can be defined as the
combination of three basic competences: localization, path planning and vehicle control.
Localization denotes the robot’s ability to determine its own position and orientation (pose)
within a global reference frame. Path planning defines the computation of an adequate
sequence of motion commands to reach the desired destination from the current robot
position. The planned path is followed by the robot using feedback control. This controller
includes reactive obstacle avoidance as well as global path preplanning.

1.1.1 PROJECT RELEVANCE

 The Autopilots have evolved from simple course holding systems to adaptive
computer systems
 It offer reduced fuel costs and increased transit times
 These new system learn the characteristics of the vessel’s handling and minimize
rudder movement reducing drag on vessel
 Increased speed and lower fuel consumption can result in tremendous saving
offsetting the cost of new systems within a year
 The current project aims to apply the artificial intelligent algorithm in a ship model
that moves by automated maneuvering

1
1.1.2 OBJECTIVE

The objective of the project is to design a hull model with good efficiency and less resistance
and develop an integrated approach of Auto-Pilot with the artificial intelligent system
applicable for ships. This model can also be used for finding the water depth and so the
volume of the dam, pond, swimming pool etc. can be determined if it travels from one corner
to another corner.

1.2 LITERATURE SURVEY

TITLE AUTHOR INTRODUCTION MERIT

What is Autopilot, its Amit Sharma An autopilot (or pilot) is Reduced Fuel
principle and details? a mechanical, electrical cost
or hydraulic system Increased Transit
which can maintain a Time
vessel on a
predetermined (set)
course without the need
for human intervention.
10 Things to Consider Nachiketh Auto Pilot steers the Quarter Master is
While Using Auto-Pilot Bhattathiri manually input course by replaced
System on Ships controlling the steering
gear to turn the rudder in
the required manner
Arduino Powered CPARKTX The goal of the project Equipped with
Autonomous Vehicle was to create a vehicle sensor
that can autonomously GPS Navigation
navigate through a series Compass
of waypoints (GPS Navigation
coordinates) while Infrared sensor &
avoiding any obstacles it remote
encounters along the way

Autonomous Surveying Sajid Ulla The objective of the Magnetometer

Boat paper is to implement an drive the model
autonomous Surface Water depth can
Vehicle (boat) which be find using
measure water depth at Ultrasonic Sensor
pre-defined set points. It SD Card can save
is more accurate, most the data
economical and safe way
of surveying the water in
the dams

2
 Autonomous Vehicle Dhanasingara In the paper they Open Street Map
Navigation and Mapping ja R described a system it (OSM)
System Kalaimagal S navigates the vehicle A rotatable laser
Muralidharan autonomously to its range finder is
G destination using GPRS used to sense the
modem. obstacles around
the vehicle
Inland Waterway Aryan This paper aims at Eliminate Human
Automation Chadha designing a completely Work
Bonny autonomous battery Ballast free
Kurian operated ballast free ship Battery Powered
meant for plying in the
inland waterways of
India
World’s First David Z A crewless ship to be Electric Powered
Autonomous Ship to Morris christened the Yara Annual Operating
Launch in 2018 Birkeland is expected to cost is 90% less
start sailing in 2018,
initially delivering
fertilizer along a 37-mile
route in southern
Norway.
Scout Transatlantic David Lumb Just over 100 miles out Uses solar panel
from the coast of Rhode Crosses Atlantic
Island, an autonomous
drone boat called Scout
broken records for the
farthest unmanned
voyage.
Rolls-Royce to ‘man’ AMRITA The company has teamed Use in defense
autonomous ship with NAIR up with Google to and battlefield
Google AI software GHASWAL develop Rolls-Royce’s Reduce Operating
LA intelligent awareness Cost
software, which is
already in use on ships,
and will play a central
role in the company’s
drive towards
autonomous vessels.
Marine Auto-Pilot Keith Rogers Construct a model of Low energy
Control Systems Ship Auto pilot system Low cost
that can go through pre-
determined path

Table 1.2 Literature Survey

3
1.3 STEPPED HULL

A step in the hull is a longitudinal notch that runs from chine to chine, and comes high
enough on the side of the boat to reach above the waterline when the boat is on plane. Low
pressure is generated just aft of the step as the boat moves forward, creating suction that
draws in air in from the sides. As speed increases and the boat generates more and more lift,
the section of the hull just aft of the step becomes completely free of the water. Drag and
friction are reduced, and as a result, the boat can go faster without burning more fuel or
adding more horsepower.

More speed and efficiency are achievable because notches or steps in the hull bottom reduce
the amount of wetted surface, the part in contact with the water. That, in turn, reduces drag to
produce a smaller wake. Air friction is also part of the equation. As the hull moves forward,
water is displaced, creating the wake. The energy that goes into making that wake is yet
another component of friction
Stepped bottoms have been used for a very long time to improve performance. A very
famous design was Maple Leaf, built in wood in 1912, and since then many successful racing
hulls have had this type of bottom.

Fig 1.3 Stepped Hull

4
1.3.1 HOW IT WORKS?

The lift production is more efficient for a surface, with a small length to beam ratio. The
increased lift generation capability means that the total wetted surface may be reduced, as
well as the friction. The drawing shows that the region behind each step has to be ventilated.
Air thus has to be sucked into this region in sufficient quantities. Normally this is not a
problem since the pressure is very low, but it’s extremely important that the air supply is not
cut. New air is continuously needed since the water entrains the air behind each step. This
may be achieved most simply by extending the step sideways to the open air at the hull’s
side.

1.3.2 WHEN IT STARTS TO WORKS?

In general, data indicate that if a boat can’t cruise easily at close to 30 knots or more, it can’t
go fast enough to ride up on hull steps, so steps would only add drag. More specifically, this
means that a petrol-powered family cruiser with steps should be able to cruise fully loaded at
30 knots, not just reach this speed at full throttle. Otherwise, the extra cost of tooling and the
added time and cost spent laying up a stepped hull is wasted, and the stepped bottom is just a
marketing gimmick. Some runabout builders even carve out a little scoop at the chime
amidships, which suppose is meant to suggest that the bottom is stepped, when in fact the
bottom is as straight as an arrow.

1.3.3 BENEFITS OF STEPPED HULL

 Steps in the hull bottom reduce the amount of wetted surface.

 More speed and efficiency
 Reduces drag
 Produce a smaller wake

5
 CHAPTER 2

MAIN DIMENSIONS, BODY PLAN, 3D MODELING

2.1 EVALUATION OF MAIN DIMENSIONS

2.1.1 MAIN DIMENSION

The main dimensions of the model to be designed is extracted from the existing boat model
made up of FRP. Offset table is generated by measuring the half ordinates at each stations
from the centerline of the existing model with the help of architect’s scale, Vernier caliper
and try square. Light ship draft of the boat is found out by measuring the immersed depth in
floating condition. Speed of the model is chosen based on the rpm of the motor used.

LBP 33.25 cm
LOA 47.5 cm
Breadth 19.2 cm
Draft 2 cm
Depth 6.5 cm
Speed 3 kn
Displacement 0.5 kg

Table 2.1 Main Dimensions

6
2.2 BODY PLAN

Having founded the main dimensions, the next step is to develop the Body plan of the vessel.
Body plan is developed by using the offset table generated from model.

OFFSET TABLE

A B1 B2 C D1 D2 E F1 F2 G
Stn↓ WL 0 0.3 0.3 1.2 2.5 2.5 3.6 4.9 4.9 6.5
→
0 0 2.7 2.9 3.9 4.1 5.5 6.6 6.9 8.5 9.4 9.6
1 4.75 2.7 2.9 3.9 4.1 5.5 6.6 6.9 8.5 9.4 9.6
2 9.5 2.7 2.9 3.9 4.1 5.5 6.6 6.9 8.5 9.4 9.6
3 14.25 2.7 2.9 3.9 4.1 5.5 6.6 6.9 8.5 9.4 9.6
4 19 2.6 2.8 3.8 4 5.4 6.5 6.8 8.4 9.3 9.5
5 23.75 2.35 2.55 3.55 3.75 5.15 6.25 6.55 8.15 9.05 9.25
6 28.5 1.5 1.7 2.7 2.9 4.3 5.4 5.7 7.3 8.2 8.4
7 33.25 0 0.2 1.2 1.4 2.8 3.9 4.2 5.8 6.7 6.9
8 38 0 0 0 0 0.75 1.85 2.15 3.75 4.65 4.85
9 42.75 0 0 0 0 0 0 0 1.4 2.3 2.5
10 47.5 0 0 0 0 0 0 0 0 0 0.2

Table 2.2 Offset Table

Fig.2.2 Body Plan

7
2.3 3D MODELING (MAXSURF MODELER)

3D Model of the boat can be developed with the help of offset table that we used for the
development of body plan. Hull form of the ship has a decisive effect on almost all the
aspects of ship performance like:

a) Trim & Stability

b) Resistance
c) Propulsion

Fig. 2.3.1 Fore View

8
 Fig. 2.3.2 Aft View

Fig. 2.3.3 Starboard Side View

Fig.2.3.4 Portside View

9
Fig. 2.3.5 Half Breadth View

10
 CHAPTER 3

SECTIONAL AREA, BONJEAN & HYDROSTATIC

CURVES

3.1 SECTIONAL AREA CURVE

 Sectional area curve computes the hydrostatic volume characteristics relating to

station cross sectional areas.
 Basically it sums up the area under a sectional area curve to obtain the displaced
volume and it takes moments to obtain the longitudinal and vertical centers of
buoyancy for an input waterline.
 Here we developed the sectional area

Stn WL 2
0 16.1292
4.75 16.1292
9.5 16.1292
14.25 16.1292
19 15.7292
23.75 14.44
28.5 10.7573
33.25 5.3292
38 0.3692
42.75 0
47.5 0

Table-3.1 Table of Sectional Area at draft 2 cm

11
 Fig-3.1.1 Sectional Area Curve (Auto CAD)

Fig- 3.1.2 Sectional Area Curve (Maxsurf)

12
3.2 BONJEAN CURVE

 Bonjean Curves are simply plots of the sectional areas versus draft for different
stations in the hull of a vessel
 Bonjean curves are used in calculating the volume of displacement and the center of
buoyancy at any waterline or angle of trim
 Most often they are used in stability calculations, determining the capacity of the
ship, or in launching calculations.

  1 2 3 4 5 5.5 6 6.5
0 7.2489 16.1292 28.0282 41.9269 58.15 67.75 77.35 86.95
4.75 7.2489 16.1292 28.0282 41.9269 58.15 67.75 77.35 86.95
9.5 7.2489 16.1292 28.0282 41.9269 58.15 67.75 77.35 86.95
14.25 7.2489 16.1292 28.0282 41.9269 58.15 67.75 77.35 86.95
19 7.0489 15.7292 27.4282 41.1269 57.1112 66.455 75.8612 85.33
23.75 6.31 14.44 25.308 38.4829 53.64 62.7233 71.8733 81.09
28.5 4.3714 10.7573 19.59 31.0407 44.3607 52.3928 60.6857 69.05
33.25 1.8489 5.3292 11.8282 20.3269 31.1112 37.855 44.6613 51.53
38 0 0.3692 2.8932 7.2919 13.9762 18.67 23.4262 28.245
42.75 0 0 0 0.1723 2.2812 4.625 7.0312 9.5
47.5 0 0 0 0 0.0013 0.045 0.1513 0.32

Table-3.2 Table of Bonjean

Fig-3.2 Bonjean Curve

13
3.3 HYDROSTATIC CURVES

Hydrostatic curves are a series of graphs drawn to a vertical scale of draught and a base of
length, which gives values such as the center of buoyancy, displacement, moment causing
unit trim, and center of floatation.

WL 0 1 2 3 4 5 5.5 6 6.5
9.710 8.0756 7.3902 6.3948 5.8881 4.8514 4.6237 4.5453 4.4766
LCF 888 05096 64688 90308 46113 283 07533 71607 4896
8.5812 8.1096 7.5487 7.0940 6.5929 6.2963 6.0658 5.8806
LCB 0 6242 21275 53246 68577 01331 00654 17422 53266
KB 0 1 2 3 4 5 5.5 6 6.5
6.5163 6.4964 9.7060 9.8428 12.909 13.384 12.895 12.636
KMT 0 98462 31408 69253 54084 63331 22065 23584 92277
179.45 99.686 80.312 61.241 60.849 54.433 48.589 44.196
KML 0 87739 40957 98069 01368 115 35159 90019 8593
178.45 97.686 77.312 57.241 55.849 48.933 42.589 37.696
BML 0 87739 40957 98069 01368 115 35159 90019 8593
5.5163 4.4964 6.7060 5.8428 7.9096 7.8842 6.8952 6.1369
BMT 0 98462 31408 69253 54084 33311 20646 35838 22772
214.08 491.16 881.40 1355.4 1929.5 2281.8 2636.5 2993.2
0 89917 48833 65167 01892 72075 11017 83608 91667
219.44 503.44 903.44 1389.2 1977.8 2338.8 2702.4 3068.1
∆ 0 12165 40054 16796 86939 11377 56292 98199 23958
153.5 254.79 323.73 467.52 525.59 684.02 725.15 729.33 733.23
TPC 28 79167 94167 98333 77917 69167 1625 875 375
MCT 3.4723 4.0536 5.5229 6.1061 8.2939 8.5405 8.5672 8.6740
C 0 84757 40963 34645 96605 18797 36192 87481 40576
0.8177 0.7941 0.8086 0.7846 0.7876 0.8090 0.7929 0.7843
CW 0.493 7397 95807 25687 59343 4212 53661 74174 75
0.7042 0.6175 0.5208 0.5185 0.4554 0.4744 0.4897 0.5049
CB 0 96633 23072 55282 12917 81358 48799 15576 41239
0.8818 0.8040 0.6900 0.6973 0.6212 0.6496 0.6749 0.6967
CM 0 61314 47856 09847 86893 60684 93134 5637 14744
0.7986 0.7680 0.7548 0.7435 0.7331 0.7302 0.7255 0.7247
CP 0 4784 17807 51954 08263 5658 65989 51455 46023

Table-3.3 Table of Hydrostatic

14
Fig-3.3 Hydrostatic Curves

15
 CHAPTER 4

RESISTANCE & POWERING, SEAKEEPING

ANALYSIS

4.1 RESISTANCE & POWERING (MAXSURF- RESISTANCE)

 Resistance of the model at a given speed is the force required to tow the model at the
speed in calm water, assuming no interference from the towing model.
 If the hull has no appendage this is called hull resistance
 Effective power of the model can be found out by multiplying the resistance with
velocity

Speed(m/sec Fr no.(Lwl) Savitsky planning Savitsky planning

Resistance(n) Power(watts)
0 0 -- --
0.2572 0.13 -- --
0.5144 0.261 -- --
0.7716 0.391 -- --
1.0288 0.522 0.38 0.39
1.286 0.652 0.47 0.6
1.5432 0.783 0.56 0.87
1.8004 0.913 0.65 1.18
2.0576 1.044 0.74 1.53
2.3148 1.174 0.82 1.89
2.572 1.305 0.89 2.28
2.8292 1.435 0.95 2.7
3.0864 1.565 1.02 3.16
3.3436 1.696 1.1 3.68
3.6008 1.826 1.18 4.26
3.858 1.957 1.28 4.92
4.1152 2.087 1.38 5.66
4.3724 2.218 1.49 6.49
4.6296 2.348 1.6 7.42
4.8868 2.479 1.73 8.44
5.144 2.609 1.86 9.56
5.4012 2.739 2 10.8

16
5.6584 2.87 2.15 12.15
5.9156 3 2.3 13.62
6.1728 3.131 2.46 15.21
6.43 3.261 2.63 16.92
6.6872 3.392 2.81 18.77
6.9444 3.522 2.99 20.76
7.2016 3.653 3.18 22.89
7.4588 3.783 3.37 25.16
7.716 3.914 3.57 27.58
7.9732 4.044 3.78 30.15
8.2304 4.174 4 32.89
8.4876 4.305 4.22 35.78
8.7448 4.435 4.44 38.84
9.002 4.566 4.67 42.07
9.2592 4.696 4.91 45.48
9.5164 4.827 5.16 49.06
9.7736 4.957 5.41 52.83
10.0308 5.088 5.66 56.79
10.288 5.218 5.92 60.93

Table- 4.1 Table of Resistance & Power

17
 Savitsky Planning Resistance
7

5
Resistance (N)

0
0 2 4 6 8 10 12
Speed (m/s)

Fig- 4.1.1 Savitsky Planing Resistance

Savitsky Planning Power

70

60

50
Power(watts)

40

30

20

10

0
0 2 4 6 8 10 12
Speed (m/s)

Fig- 4.1.2 Savitsky Planing Power

18
4.2 DETERMINATION OF DAMPING COEFFICIENT

4.2.1 LOGARITHIMIC DECREMENT METHOD

Logarithmic method is defined as the natural logarithm of the ratio of the amplitudes of
any two successive amplitudes on the same side of the mean line

Fig- 4.2.1 Logarithmic decrement method

Roll damping of the model is found out by placing the mobile phone in the model and given
some force in the sides, due to the rolling motion the accelerometer in the mobile phone will
read the angular acceleration and time. This is done with the help of a software named
HyperIMU. The data will be saved in excel format and the graph can be plotted between
acceleration and time. Natural logarithm of the ratio of the amplitudes of any two successive
amplitudes will give the damping coefficient (k). The graph obtained for roll damping is
given below:

19
 Roll Damping
6
5
4
Acceleration (m/s^2)

3
2
1
0
1520839130000 1520839140000 1520839150000 1520839160000 1520839170000
-1
-2
-3
Time

Fig 4.2.2 Roll Damping

X1 = 1.6813037
X2 = 1.0633887
X1/X2 = 1.581081029
Ln (X1/X2) = 0.458108809
k= [ln (X1/X2)]/2*3.14
= 0.072947263

20
4.3 SEAKEEPING ANALYSIS (MAXSURF MOTIONS)

Seakeeping is the ability of a vessel to endure rough conditions at sea and navigate safely
during long storms. Seakeeping ability is a measure of how well-suited a watercraft is to
conditions when underway. A ship or boat which has good seakeeping ability is said to be
very seaworthy and is able to operate effectively even in high sea states.

INPUT:
Analysis Type Panel Method
Damping Factor 0.073
Spectra ITTC Spectra
Average Period 5 s
Average Height 10 cm
Draft 3 cm
Roll Gyradius 7.7 cm 40.1% of BOA
Pitch Gyradius 11.9 cm 25% of LOA
Yaw Gyradius 11.9 cm 25% of LOA
VCG 3.91 cm
Water Density 1.025 t/m^3
Water Depth Deep Water

Table 4.3 Seakeeping Analysis Input

21
RESULT

1. CG RAO’S at 0° Heading

RAO- Heading Angle (0 °)

1.2

0.8
Heave
0.6 Pitch
Added Resistance 1:5 (N/cm^2)
0.4

0.2

0
0 5 10 15 20 25 30

Ꙍe (rad/sec)

Fig 4.3.1 RAO’s at 0° heading

22
 2. CG RAO’S at 45° Heading

12
RAO- Heading Angle (45 °)

10

8
Heave
6 Pitch
Roll
4 Added Resistance 1:5 (N/cm^2

0
0 5 10 15 20 25 30
Ꙍe (rad/sec)

Fig 4.3.2 RAO’s at 45° heading

3. CG RAO’S at 90° Heading

RAO- Heading Angle (90 °)

18
16
14
12
10 Roll
Added Resistance 1:5 (N/cm^2)
8
Heave
6
4
2
0
0 5 10 15 20 25 30
Ꙍe (rad/sec)

Fig 4.3.3 RAO’s at 90° headin

23
 4. CG RAO’S at 135° Heading

RAO- Heading Angle (135 °)

12

10

8
Heave
6 Roll
Pitch
4 Added Resistance 1:5 (N/cm^2)

0
0 5 10 15 20 25 30
Ꙍe (rad/sec)

Fig 4.3.4 RAO’s at 135° heading

5. CG RAO’S at 180° Heading

RAO- Heading Angle (180 °)

1.2
1
0.8
Heave
0.6 Pitch
0.4 Added Resistance 1:5 (N/cm^2)

0.2
0
0 5 10 15 20 25 30

Ꙍe (rad/sec)

Fig 4.3.5 RAO’s at 180° heading

24
 CHAPTER 5

BOAT MECHATRONICAL DESIGN

5.1 BLOCK DIAGRAM

Exploration of Remote environments can now be conducted in relative safety using

Autonomous Boat. And these Autonomous Boat if measure depth values, actual distances of
the path along which it travels, can enhance accuracy in the manual process measuring depth
by cable. And minimize manual labor and time. The flat-bottomed boat is used as surface
vehicle. The GPS point can be taken either from bringing GPS receiver to the point of
interest or from Google earth. The magnetometer is used to drive the boat in Straight line.
The point where we find depth values are pre-defined Points for our controller. The depth
values are acquired by the ultrasonic Ranging sensor. SD card module saves these depth
values of the set points.

Fig 5.1 Block Diagram of Autonomous Surveying Boat Model

25
5.2 WEIGHT ESTIMATION

S.NO COMPONENTS WEIGHT(grams

)
1 FRP Hull 524
2 Circuit Boards 50
3 Turnigy 2200 Li-Po Battery 200
4 Brushless Motor 150
5 Ultrasonic sensor (HC-SR04) 15
6 Magnetometer 4
7 Servo motor 38
8 GPS module 9
9 Rudder 60
10 Propeller + Shaft 50
11 Miscellaneous 400
Net Weight 1500

Table 5.2.1 Weight Estimation

26
5.2.1 SENSORS

The Autonomous Surveying Boat uses three sensors for its operation. The Ultrasonic Sensor
HMC SR04 is used to find the depth. The GPS Receiver Skylab SKM53 is used to determine
the GPS coordinates when Autonomous Surveying Boat is floating in water to find the depth
at predefined set points. The Honeywell HMC5883L is used as compass sensor.
Sensor Variable Range Accuracy
Ultrasonic HC Depth 0 – 450 cm 0.3cm
SR04
HMC388L Heading, distance 3600, ±600 10 to 20heading
(Compass)
SKM53 (GPS Time, position, - 4.5 – 10 meter
Receiver) track

Table 5.2.2 Sensors

27
5.3 COST ESTIMATION

S.NO COMPONENTS COST(Rupees)

1 FRP Hull 1000

2 Circuit Boards 1500
3 Turnigy 2200 Li-Po Battery 3000
4 Brushless Motor 600
5 Ultrasonic sensor (HC-SR04) 300
6 Magnetometer 500
7 Servo motor 200
8 GPS module 3000
9 Rudder 1000
10 Propeller + Shaft 3000
11 Miscellaneous 2500
Total Cost 16600

Table 5.3 Cost Estimation

28
 CHAPTER 6

SUMMARY AND CONCLUSIONS

6.1 SUMMARY

The entire project covers basic calculations and drawing associated with
the design of AUTONOMOUS SURVEYING BOAT MODEL. The design started with a
literature survey collecting all data’s which are useful for the designing of model. These data
serve as a reference during the project. The main dimensions of the model to be designed is
extracted from the existing boat model made up of FRP. Offset table is generated by
measuring the half ordinates at each stations from the centerline of the existing model with
the help of architect’s scale, Vernier caliper and try square.

Having founded the main dimensions, the next step is to develop the Body
plan of the vessel. Body plan is developed by using the offset table generated from model in
Auto CAD. 3D Model of the boat is developed in Maxsurf Modeler with the help of offset
table that we used for the development of lines plan.

Once the body Plan and 3D modeling is done, the next step in design is to
develop the sectional area curve in Maxsurf and Auto CAD. Next step is to develop Bonjean
curve by finding the areas under each stations.

Next stage of design was to perform a hydrostatic calculation to find all the
hydrostatic particulars at different waterlines. This calculation was done manually using
excel spreadsheets. Once the calculation were done with, they were used to plot the
hydrostatic curves. Next step to perform resistance and powering calculations to fix suitable
engine for the ship.

Next step is to perform resistance and powering calculations to fix

suitable Motor for the Model. Resistance and powering is calculated using Maxsurf
Resistance. Next step is to perform the Seakeeping Analysis to know the behavior of the
model in waves. Seakeeping Analysis is done with Maxsurf Motions.

Last step is to design the mechanics and electronics of the model for the
autonomous system. It includes the systems that we are using for the effective working of
autonomous and sensors.

29
6.2 CONCLUSION

Hence, the design of the autonomous surveying boat model from the existing model is
completed successfully.

 The designed boat compliance with the rules and regulation, in order to operate
safely.
 The designed boat can be used successfully for the surveying purposes.

30
 REFERENCES

BOOKS

1. Principle of Naval Architecture (Volume- 1,2,3)

2. Basic Ship Theory (Rawson &Tupper)
3. Introduction to Naval Architecture (Eric C. Tupper)
4. Guide to Power Boat Design (J A Hind)
5. Dynamics of Marine Vehicles (Rameshwar Bhattacharyya)

INTERNET

1. Autonomous Vehicle Navigation & Mapping

ieeexplore.ieee.org/document/6936163/

2. Autonomous Boat Project

www.meloneewise.com/index.php/portfolio/autonomous-boat-project/

3. Stepped Hull and its Benefits

https://www.saltwatersportsman.com/stepped-hull-benefits-for-boats

4. Simulation of Intelligent Ship Autopilot

https://www.researchgate.net/.../255591044

31