Project Presentation has come and gone, and the unveiling of WAVE was a great success. The team presented the design of each subsystem as well as the planned integration. We also proudly displayed WAVE’s components alongside the poster. The audience asked numerous questions, and we were able to answer them all as well as articulate the future of the project. Our presentation gained attention as we were asked to give the presentation a second time at The AUVSI New England Chapter’s First Annual Breakfast Meeting. This request is a huge honor as our goal is to compete in the AUVSI competition. This meeting will take place on May 28th, and although some of our team members will be graduating, others will continue to work on WAVE and stay at WPI. We will update you with the results of this meeting.

Project Presentation Prep

We will officially presenting our current progress on WAVE on April, 18 for WPI’s Project Presentation Day. This past week all three teams were focused on creating a presentation and practicing delivering it. The presentation is divided into the following categories: introduction & overview, mechanical design, electrical design, software design, future work, and conclusions. This breakdown will show you the motivations for the project, the individual sub-system challenges, and the integration of the sub-systems into the WAVE platform. Since the majority of the effort is being placed on this presentation, we will be light on technical updates for the time being.



As you can see from the above image, the 80/20 has finally arrived, and we were able to construct our chassis frame. Now that we have the chassis assembled, we can begin the process of system integration and field testing. Additionally, the process of threading the end caps for the waterproof connection cables has begun. Electronics rack configurations are being worked on, and the threaded inserts will provide the ability of inter-module connectivity. We are able to begin this process because our most recent dive test has shown that the new gasket on the end caps is waterproof. On the electrical side of the project, AHD revision 2 is being assembled, and we hope to resolve the code downloading issues from the previous revision. All of the boards have been received and testing has begun. In regards to software, synchronous and asynchrounous tasks as running. We are fast approaching our deadline, and we have discussed a technical stop date to work on fleshing out the report and presentation. We will keep you updated.

Prototyping Continues

As we continue the development of prototypes for WAVE, we wish to provide you all with another update. The electronics housing components have all been accounted for in the solid-works diagram. The rack for the electronics can now be designed to fit all of these components. Also, we had our first pool submersion test. A tiny leak was found with one of the end caps, but because of this test we will be able to rectify this problem immediately. Sensor prototypes for temperature and pressure have also been created. On the software side, the USB connection is still showing errors, even in Linux. The source seems to be a build configuration within the descriptor files. The error has been pinpointed, so we will now attempt to change the descriptor file. Mission tasks have also been created. XML files are being used to read the mission commands. Serialization and deserialization needs to be accounted for to remove some minor bugs. With the continual development and sub system testing, we are working diligently towards full system integration for WAVE.

D Term – The Final Push

Hello everyone. D-Term has officially begun, and after our successful spring break work week, we are ready to make the final push to complete WAVE. Major developments were made for each team. The ME Team successfully manufactured the end caps for the pressure vessel. Additionally, 80/20 has finally been ordered, so when it arrives the chassis will be able to be constructed. The ECE team was able to successfully download the echo server to the board, but a new problem has arisen. The drivers are no longer recognized in Windows operating system. The solution will be to attempt to download/run in Linux. The batteries were also successfully charged. Finally, the functionality of the motor board has been verified. The CS team also had new developments. They have been able to set up a serial library to connect to the IMU sensor. The attitude indicator is able to receive information from the sensor now. These updates from the three teams have been crucial to development of WAVE. With only a few weeks remaining in the term, we expect to continue providing you with major progress.

Day 5


Unfortunately due to a large snowstorm, many team members were unable to report to our central command until later today. As a result, today’s update will not be as lengthy as the past ones this week. Waterproof connectors were ordered, but other than that the majority of work was spent working on the report. We had a deadline that we needed to meet on Monday, so every team member worked diligently on writing their respective sections.

As you can see from the picture, we also went over which tasks we completed. We finished a large amount of them, but others still need to be worked on. We prioritized the tasks and established a plan to complete them over the term.

D-Term is fast approaching us, and we will keep you updated as we enter our final term of the project.

Day 4


Day 4 out of 5, and everything seems to be coming together. Multiple purchases were made today, including bilge pumps, waterproof connectors, and ballast materials. Also, the motor controller board passed all tests. Therefore, the final assembly for the board can begin. A charger for the lithium polymer batteries was obtained and used to charge them. A few issues with the XML code was resolved. Finally, high-frequency polling of the AHRS was achieved through sending attitude info to the GUI. Bidirectionality was fixed and command response was setup. With a multitude of tasks completed, the team needed to start focusing on the report. Each member was given a different section to write with the deadline of tomorrow.

One day left. This week has been productive so far, and we plan to keep up the momentum for the last day.

Day 3


Halfway through spring break and the ball is rolling. We received a package motors that we rented, and the ME team began testing them underwater. They also constructed a PVC frame. This chassis will be temporary for testing purposes until we receive 80/20. Additionally, ME continued the design process of the electronics rack and the ballast system. ECE successfully tested the motor control board along with designing a ballast board. In regards to the echo server, we are unable to have the board recognized on a windows computer. They have tried connecting the board with downloaded code via USB to several computers, and none of them recognized the device. They tried using Linux and Mac to find the problem, but these did not work as well. The team has contacted NXP tech support and are awaiting a response. CS has been diligently working on the task structure and has been adding javadocs. They are having a problem with bi-directional communications, but they are switching to working on polling the AHRS through java, and the outlook is looking good.

Only two more days of Spring Break, but we are making progress.

Day 2


Day 2 has been less about logistics and more about diving headfirst into the project. Multiple tasks were completed today. Most notably is the manufacturing of the two end caps for the pressure vessel. Both were successfully machined and cured with silicone to waterproof the electronics vessel while still providing access to the contents inside. ME has also worked on designing the electronics rack and the ballast system. Another major breakthrough was that the ECE team was able to download the echo server code to the development board. However, now that the code is on the board, the CPU no longer recognizes the board as a peripheral. This seems to be a driver error, but once the problem is solved the echo server will be complete. Additionally, the functionality of the motor board has been confirmed. CS has been working a mission task structure setup to read from XML and a command handler.

As you can see though, we are most excited about the end cap.


Day 1


It is currently our break week from school, but the team has decided to capitalize on this opportunity. Instead of going home for Spring Break, we have decided to stay on campus and work on completing WAVE. We reserved a conference room and will be working there Monday – Friday from 9:00 a.m. to 5:00 p.m. Usually we update every week, but for this week there will be a new blog post every day.

Welcome to day 1!

Today’s agenda included going over the budget, generating a task list for the week, and executing those tasks. In order to alleviate our budget constraints, we sent our sponsorship packet out to multiple companies. Hopefully some of you reading this were directed to our website via said sponsorship packet!

The task list was divided into four categories: ME, ECE, CS, and Team. In total, we created 113 tasks. While this number may seem intimidating, we are confident that we will be able to accomplish them this week. With no other classes to worry about, we can give our undivided attention to WAVE.

As this post is being written, the team is diligently working on completing several tasks. We will provide you with an update on the completion of these tasks tomorrow.