The Boat
This final project merges timeless ingenuity with cutting-edge technology, drawing inspiration from the craftsmanship of ancient Egyptian boats to design a small, autonomous vessel. By incorporating the streamlined aesthetics and functional principles of traditional boat-making with MIT's advanced robotics and AI systems, the project reimagines the simplicity of ancient design as a foundation for modern innovation. This autonomous boat embodies a bridge between history and technology, navigating waterways with efficiency and intelligence while honoring the legacy of early naval engineering.
↓ Scroll down to explore the project ↓The Background
The Tradition of Boats in Egypt
For millennia, boats have played a vital role in Egyptian society, serving as lifelines of commerce, culture, and spirituality. The ancient Egyptians, with their pioneering ingenuity, crafted papyrus vessels and wooden ships that navigated the Nile, enabling trade, agriculture, and the movement of colossal architectural materials like obelisks. Boats were deeply intertwined with Egyptian cosmology, symbolizing the sun god Ra's journey through the heavens. Over time, Egyptian craftsmanship evolved, introducing advanced shipbuilding techniques that influenced Mediterranean maritime traditions. In modern Egypt, the legacy continues, with fishing boats and ferries connecting communities while evoking the timeless connection between the people and their waters.
Autonomous Boats at Senseable City Lab
At the Senseable City Lab, we are redefining water-based transportation through innovation, building on the ancient legacy of boats with cutting-edge technology. Our autonomous Roboat fleet, developed in collaboration with CSAIL, represents a groundbreaking step in urban waterway management. Designed to navigate canals with precision, Roboat employs advanced algorithms, including Simultaneous Localization and Mapping (SLAM), for optimal pathfinding and obstacle avoidance. Capable of carrying passengers and goods, these vessels demonstrate the potential to alleviate urban congestion by transforming waterways into dynamic transit corridors. Supported by the Amsterdam Institute for Advanced Metropolitan Solutions, Roboat exemplifies the fusion of tradition and modernity, paving the way for smart, sustainable cities.
I wanted to combine ancient with modern, history with technology, while paying homage to my Egyptian heritage and my life at MIT.
I decided to make a small autonomous boat.
The Works
As part of my ongoing exploration of the parallels between ancient Egyptian architecture and modern technology, I will continue designing PCBs inspired by the intricate layouts and symbolic functions of ancient temples. This series reflects my fascination with the advanced knowledge of my ancestors, who seamlessly blended engineering, spirituality, and aesthetics. Each PCB will draw on these elements, ensuring that the functionality of each circuit mirrors its corresponding architectural feature. In this case it will be designed after the Goddess of Seas’ temple.
The projected Steps and Timeline.
Week 1: Design and Fabrication
Day 1-2: Finalize PCB design in CAD software, incorporating all necessary components for navigation, control, and power.
Day 3-4: Send the design for fabrication or start in-house etching.
Day 5-7: Receive or complete PCB fabrication and prepare for assembly.
Week 2: Assembly and Initial Testing
Day 8-9: Solder components, including the microcontroller, sensors, and motor drivers, onto the PCB.
Day 10-11: Test PCB functionality for power distribution, sensor readings, and communication.
Day 12-14: Design and fabricate the waterproof hull with compartments for electronics and propulsion.
Week 3: Integration and Dry Testing
Day 15-16: Mount the PCB inside the hull and wire all components, including motors and sensors.
Day 17-18: Write and upload navigation algorithms to the microcontroller.
Day 19-20: Conduct dry testing of the boat's systems on a stable surface, troubleshooting as needed.
Week 4: Water Testing and Optimization
Day 21-22: Deploy the boat in a controlled water environment for initial tests.
Day 23-25: Analyze performance and refine navigation algorithms or hardware connections.
Day 26-28: Conduct final testing in various water conditions to ensure reliability.
Day 29-30: Optimize design based on feedback and prepare a presentation or demonstration.
Brainstorming how to make it using PCBs
Designing an autonomous boat using PCBs (Printed Circuit Boards) requires an integration of electronic and mechanical systems tailored for navigation, sensing, and control. The central component could be a custom PCB housing a microcontroller, such as an ESP32 or Raspberry Pi Pico, for processing real-time data and executing commands. Additional PCBs could manage sensor arrays, including GPS modules for positioning, IMUs (Inertial Measurement Units) for stability, and ultrasonic or lidar sensors for obstacle detection. Power management PCBs would ensure stable voltage supply for motors, sensors, and communication systems, while another board could handle propulsion and steering, connecting motor drivers and servos. Wireless communication, like Wi-Fi or LoRa modules, could be integrated for remote monitoring and coordination. Modular PCBs could allow for scalability, enabling the addition of components like cameras or environmental sensors. The boat’s design would incorporate waterproofing and heat dissipation measures to protect the electronics. By designing and fabricating specialized PCBs for each subsystem, the autonomous boat would achieve a seamless and efficient operation tailored for smart navigation.
Each Component to Build This
PCB Components
The PCB for the autonomous boat will integrate a variety of inputs and outputs to enable functionality. For inputs, it will include GPS modules for location tracking, IMUs (Inertial Measurement Units) for maintaining balance and detecting orientation, and ultrasonic sensors or lidar sensors for obstacle detection and proximity awareness. Additional inputs may involve temperature sensors and water quality sensors if environmental monitoring is required. The outputs on the PCB will manage the motor drivers to control propulsion and steering, LED indicators for system status, and communication modules such as Wi-Fi or LoRa for remote control and data transmission. A XIAO RP2040 microcontroller will serve as the central processor, managing data from inputs and coordinating responses to outputs. The PCB design will feature efficient power management circuits to regulate power supply to all components.
3D Printing Components
The boat's structure will be fabricated using 3D-printed materials to ensure lightweight and waterproof construction. The hull will include compartments for housing the PCB, battery, and sensors, designed with access hatches for easy maintenance. Mounts and brackets for attaching sensors, motors, and propellers will also be 3D printed to provide precise alignment and stability. Additionally, protective covers for sensitive components such as the lidar and IMU will be created to shield them from water and debris. The design will emphasize modularity, allowing the integration of additional components like cameras or extra sensors.
Propulsion and Navigation Systems
The propulsion system will include brushless DC motors connected to propellers, with motor speed and direction controlled by the PCB through electronic speed controllers (ESCs). The steering mechanism will involve a servo motor linked to a rudder for directional changes. These systems will be designed for compatibility with the 3D-printed mounts and housed securely within the boat's hull.
Power Supply
The boat will use rechargeable lithium-ion batteries as the primary power source, with the PCB managing distribution to the microcontroller, motors, and sensors. A voltage regulator module will ensure stable power delivery, and a solar charging circuit could be integrated to support extended missions.
By combining these technologies—custom PCBs, 3D-printed parts, and advanced propulsion systems—the autonomous boat will achieve precise navigation and robust functionality in various environments.
Building it
1. Hull Design and Fabrication
Design: Use CAD software (e.g., Fusion 360 or SolidWorks) to design a compact, lightweight hull optimized for stability and waterproofing. Include compartments for housing electronics, motors, and batteries, as well as mounting points for sensors and propellers.
3D Printing: Print the hull using durable, water-resistant materials like PETG or ABS. Apply sealants or coatings to ensure the hull is watertight.
Compartments and Hatches: Design removable hatches for easy access to the PCB and power system, incorporating gaskets for waterproofing.
2. Propulsion and Steering System
Propellers and Motors: Attach brushless DC motors to the stern, connected to propellers. Ensure the motor mounts are designed for the specific motor model and securely fastened to the hull.
Rudder and Steering: Install a 3D-printed rudder at the back of the hull, controlled by a waterproof servo motor. Use a rod and bracket system to link the rudder to the servo for precise steering.
3. Electronic Integration
PCB Installation: Mount the PCB inside the hull using a shock-resistant platform or standoffs to prevent vibration damage. Ensure proper cable management for a clean, functional setup.
Sensors and Communication: Attach ultrasonic or lidar sensors to the front and sides of the hull for obstacle detection. Secure the GPS antenna on the top of the hull for unobstructed signal reception.
Power System: Install rechargeable lithium-ion batteries in a dedicated compartment with a secure, insulated mount. Connect the battery to the PCB and propulsion system using waterproof connectors.
4. Waterproofing and Protection
Sealing Components: Use silicone sealant or rubber gaskets around any openings, such as motor mounts, sensor brackets, and access hatches, to ensure waterproofing.
Protective Covers: Add 3D-printed or prefabricated covers for exposed components like sensors and motor shafts to shield them from debris and water splashes.
5. Testing and Iteration
Dry Testing: Run initial system tests on land to confirm all components, including propulsion, steering, and sensors, are functioning correctly.
Water Testing: Conduct controlled water tests in a pool or calm body of water, starting with manual operation before enabling full autonomy. Check for leaks, stability, and responsiveness.
Adjustments: Refine the hull design, propulsion alignment, and electronic setup based on testing feedback to optimize performance.
6. Final Touches
Paint and Branding: Add a waterproof paint or coating for aesthetics and durability, and label key areas like sensor locations for easy identification during maintenance.
Data Logging and Communication: Integrate a data logging system and wireless communication module to record performance metrics and enable remote monitoring during operation.