the active foil flying across the water

Hydrofoils Love This One Simple Trick

March 4, 2022 by 8 Comments

Earlier in the year, [rctestflight] created an active hydrofoil RC craft but found the actual performance very lacking. Luckily for him and for us, he continued to tweak it and one tweak suddenly turned it from a nightmare to a dream.

That tweak was adding ArduPilot’s airplane model. The design had three servos, which each actuated the angle of a foil underneath one of the three pontoons. The ship propelled itself via some propellers mounted near the top. If you know much about ArduPilot, you notice that active hydrofoil boat doesn’t show up on the list of supported platforms, and you’re right. [rctestflight] points out that the three servos actually function as a plane underwater. The front two are ailerons and the back one is an elevator, all things that ArduPilot knows how to handle with a tightly controlled loop except for one thing; there’s no altitude data.

So he stole a trick he developed earlier for his ground effect plane and used a distance sensor to let ArduPilot know how to adjust things. He used a sonar sensor instead of lidar as it works better with water and he was pleasantly surprised when he took it out on the lake and it just worked wonderfully. The original goal with the active stabilization was to have the efoil immune to choppy waters, and we’re sad to say that it didn’t quite reach that lofty target. The single sonar sensor follows the wave in front of it beautifully but can’t handle the complex waves being thrown at it. Perhaps some sort of sensor fusion algorithm could provide the necessary data to be truly resilient. But we love watching the foil glide across the water and it is hard to remember that it’s actively flying rather than just floating that way.

Others have tried and failed to 3D print a hydrofoil while others have succeeded. We love that [rctestflight] came back to finish the fight and came away a champion. Video after the break.

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That’s No Moon… It’s An Algae Robot

January 27, 2022 by 10 Comments

When you think of a robot, you probably don’t think of a ball of underwater algae. But a team of university researchers used a 3D-printed exoskeleton and a ball of marimo algae to produce a moving underwater sensor platform. It is really at a proof-of-concept stage, but it seems as though it would be possible to make practical use of the technology.

Marimo are relatively rare balls of algae that occur in some parts of the world. A robot powered by algae runs on sunlight and could be electromagnetically quiet.

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Quantum Atomic Interferometer For Precision Motion Sensing

December 28, 2021 by 16 Comments

The current state of the art of embedded motion sensing is based around micro-electromechanical systems (MEMS) devices. These miracles of microfabrication use tiny silicon structures, configured to detect acceleration and rotational velocity in three dimensions. Accumulate these accelerations and rotations, and you’ve got a device that can find its orientation and track movement without any external waypoints. This is the basis of the technique of dead reckoning.

Why do we care about dead reckoning anyway? Surely GPS and related positioning systems are good enough? Above ground GPS is usually good enough, but underwater and underground this simply won’t work. Even heading indoors has a dramatic effect on the GPS signal strength, so yes, we need another way for some applications.

Right now, the current state of the art in portable sensors are MEMS devices, and you can get them for the cost of a hamburger. But if you want the ultimate in accuracy, you’ll want a quantum atomic interferometer. What that is, and how it will be possible to make one small enough to be useful, is half of the story. But first, let’s talk MEMS.

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The Astronomical Promises Of The Fisher Space Pen

September 23, 2021 by 57 Comments

We’ve all heard of the Fisher Space Pen. Heck, there’s even an episode of Seinfeld that focuses on this fountain of ink, which is supposed to be ready for action no matter what you throw at it. The legend of the Fisher Space Pen says that it can and will write from any angle, in extreme temperatures, underwater, and most importantly, in zero gravity. While this technology is a definite prerequisite for astronauts in space, it has a long list of practical Earthbound applications as well (though it would be nice if it also wrote on any substrate).

You’ve probably heard the main myth of the Fisher Space Pen, which is that NASA spent millions to develop it, followed quickly by the accompanying joke that the Russian cosmonauts simply used pencils. The truth is, NASA had already tried pencils and decided that graphite particles were too much of an issue because they would potentially clog the instruments, like bags of ruffled potato chips and unsecured ant farms.

A Space-Worthy Instrument Indeed

Usually, it’s government agencies that advance technology, and then it trickles down to the consumer market at some point. But NASA didn’t develop the Space Pen. No government agency did. Paul Fisher of the Fisher Pen Company privately spent most of the 1960s working on a pressurized pen that didn’t require gravity in the hopes of getting NASA’s attention and business. It worked, and NASA motivated him to keep going until he was successful.

An original Fisher Space Pen AG-7 atop the Apollo 11 flight plan.
The pen that went to the moon. Image via Sebastien Billard

Then they tested the hell out of it in all possible positions, exposed it to extreme temperatures between -50 °F and 400 °F (-45 °C to 204 °C), and wrote legible laundry lists in atmospheres ranging from pure oxygen to a total vacuum. So, how does this marvel of engineering work?

The Fisher Space Pen’s ink cartridge is pressurized to 45 PSI with nitrogen, which keeps oxygen out in the same manner as potato chip bags. Inside is a particularly viscous, gel-like ink that turns to liquid when it meets up with friction from the precision-fit tungsten carbide ballpoint.

Between the viscosity and the precision fit of the ballpoint, the pen shouldn’t ever leak, but as you’ll see in the video below, (spoiler alert!) snapping an original Space Pen cartridge results in a quick flood of thick ooze as the ink is forced out by the nitrogen.

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Solar Powered Autonomous Tugboat For Rescuing Autonomous Vessels

September 18, 2021 by No comments

[rctestflight] has built several autonomous boats, and with missions becoming longer and more challenging, he bought an inflatable kayak to serve as a dedicated rescue vessel. Instead of relying on outdated manual paddling, he built an autonomous solar-powered tugboat.

Towing test with kayak
♪ “Rum, treasure, ArduRover, Pixhawk 4 and so much solar, break of dawn till the day is over, the ship will surely go…” ♪

The tugboat uses a pair of molded fiberglass hulls in a catamaran configuration. The wide platform allows a pair of 100W solar panels to be mounted on top. It was [rctestflight]’s first time molding anything out of fiberglass, so there was quite a bit of trial and error going on. The mold was 3D printed in sections, aligned with dowel pins, and glued together. After the epoxy had cured, the mold halves could be split apart for easier removal of the hull.

As with most of [rctestflights] autonomous vehicles, control is handled by a Pixhawk 4 running ArduPilot/ArduRover. A pair of 76 mm brass propellers powered by brushless motors provide propulsion and differential steering. The motors get power from six LiFePO4 batteries, which charge from the solar panels via MPPT charge controllers. The hulls are covered with plywood decks with removable hatches and inspection windows. After a bit of tuning, he took the boat for a few test runs, the longest being 5.1 km with himself in tow in the kayak. At less than 5 km/h (3 mph) it’s no speedboat, but certainly looks like a relaxing ride. Many of [rctestflight]’s previous vessels were airboats to avoid getting underwater propellers tangled in weeds. It was less of an issue this time since he could just haul the tugboat close to the kayak and clear the propellers.

[rctestflights] are always entertaining and educational to watch, and this one certainly sets the standard for sea-shanty soundtracks at 13:32 in part two.

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SpaceX Drops The Ball On Catching Fairings

May 6, 2021 by 91 Comments

You don’t have to look very hard to find another rousing success by SpaceX. It’s a company defined by big and bold moves, and when something goes right, they make sure you know about it. From launching a Tesla into deep space to the captivating test flights of their next-generation Starship spacecraft, the private company has turned high-stakes aerospace research and development into a public event. A cult of personality has developed around SpaceX’s outlandish CEO Elon Musk, and so long as he’s at the helm, we can expect bigger and brighter spectacles as he directs the company towards its ultimate goal of putting humans on Mars.

Of course, things don’t always go right for SpaceX. While setbacks are inevitable in aerospace, the company has had a few particularly embarrassing failures that could be directly attributed to their rapid development pace or even operational inexperience. A perfect example is the loss of the Israeli AMOS-6 satellite during a static fire of the Falcon 9’s engines on the launch pad in 2016, as industry experts questioned why the spacecraft had even been mounted to the rocket before it had passed its pre-flight checks. Since that costly mistake, the company has waited until all engine tests have been completed before attaching the customer’s payload.

SpaceX’s concept art for propulsive landing

But sometimes the failure isn’t so much a technical problem as an inability for the company to achieve their own lofty goals. Occasionally one of Musk’s grand ideas ends up being too complex, dangerous, or expensive to put into practice. For instance, despite spending several years and untold amounts of money perfecting the technology involved, propulsive landings for the Crew Dragon were nixed before the idea could ever fully be tested. NASA was reportedly uncomfortable with what they saw as an unnecessary risk compared to the more traditional ocean splashdown under parachutes; it would have been an impressive sight to be sure, but it didn’t offer a substantive benefit over the simpler approach.

A similar fate recently befell SpaceX’s twin fairing recovery ships Ms. Tree and Ms. Chief, which were quietly retired in April. These vessels were designed to catch the Falcon’s school bus sized payload fairings as they drifted down back to Earth using massive nets suspended over their decks, but in the end, the process turned out to be more difficult than expected. More importantly, it apparently wasn’t even necessary in the first place.

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Drone Boat Sails Seattle

March 11, 2021 by 11 Comments

Thanks to the availability of cheap, powerful autopilot modules, building small autonomous vehicles is now well within the reach of the average maker. [rctestflight] has long been an enthusiast working in this space, and has been attempting long range autonomous missions on the lakes of Washington for some time now. His latest attempt proved to be a great success. (Video, embedded below.)

The build follows on from earlier attempts to do a 13 km mission with an airboat, itself chosen to avoid problems in early testing with seaweed becoming wrapped around propellers. For this attempt, [Daniel] chose to build a custom boat hull out of fiberglass, and combine both underwater propellers and a fan as well. The aim was to provide plenty of thrust, while also aiming for redundancy. As a bonus, the fan swivels with the boat’s rudder, helping provide greater turn authority.

After much tuning of the ArduPilot control system, the aptly-named SS Banana Slug was ready for its long range mission. Despite some early concerns about low battery voltages due to the cold, the boat completed its long 13 km haul across the lake for a total mission length of over three hours. Later efficiency calculations suggests that the boat’s onboard batteries could potentially handle missions over 100 km before running out.

It goes to show that, even with an off-the-shelf autopilot and mapping solution, there’s still a huge amount of engineering that goes into any successful long-range mission, whether land, sea or air.

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