The deck houses the computer, microcontrollers, GPS/IMU, communications systems and power distribution for MiniMinion. It must be able to mount to the pontoons, be waterproof, and support the mass of all mounted components. The power distribution system must also supply enough power to maintain operation through entire course runtime.
The essential electrical components of the deck were arranged to optimize heat dissipation, access to critical components, and ease of wiring. The deck dimensions are 24" x 24" x 5.5".
The power analysis was based on several components the team inherited from previous competitions or recent donors: 18V batteries, computer, GPU, JAVAD GPS/IMU, T200 Thrusters, and the servos.
The primary purpose of the power analysis was to determine how many batteries were needed. Based on power consumption estimates for each component, the robot was determined to need only 2 batteries in parallel, allowing for a conservative estimate of 66 minutes of runtime.
MiniMinion needs to be lightweight to remain buoyant and fast. Choosing to build the deck out of aluminum honeycomb panels means the deck structure weighs 6 lbs when empty. To contrast this, building it out of aluminum or wood would weigh about 25 lbs.
The honeycomb panels arrive pre-sandwiched in fiberglass epoxy sheets. This is good for stability and strength, but difficult for manufacturing. We are fortunate to have a waterjet cutter in our campus labs to do the major cuts on these panels.
The large enclosure lid provides access to all internal components. A compressible silicone sealing strip seals against water ingress around the lid perimeter.
Provides easy access to batteries to allow for exchange of
Four fans are placed to optimize airflow over critical components. The quantity and locations were selected based on an internal heat generation of over 95 W from powered components inside the deck.
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