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\wikidoc{file=Proj.SolarBlue}
\wikidoc{auth=ephan@mit.edu}

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\section*{The Solar Blueboat}
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\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.6\textwidth]{figures/solarblue01.png}
  \label{fig_one}
  \caption{BlueBoat with 180W solar charging system.}
\end{figure}

\noindent
The Solar BlueBoat project advances research in energy-aware autonomy
for solar powered ASVs. Using the MOOS-IvP autonomy framework, the
project develops behaviors to regulate vehicle speed and heading based
on real time power usage, solar input, and mission
objectives. Algorithms account for sun position, solar weather
conditions and time of day, ensuring the ASV preserves sufficient
energy for overnight survival while maximizing mission performance.

\vspace{0.1in}
\noindent
Alongside the autonomy development, the project implements a 180W
solar charging system integrated with the onboard batteries. A power
sensor connected to the BlueBoat navigator board allows for accurate
power readings of solar input, enabling direct coupling between solar
charging and autonomy behaviors.

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/solarblue02.png}
  \label{fig_one}
  \caption{Relationship between ASV heading relative to solar azimuth
    and measured 50W solar panel power input, showing a cosine
    dependence.}
\end{figure}



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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status:}   & Ongoing since Spring 2025 \\ \hline 
  \var{People:}   & Ethan Phan, Jeremy Wenger, Raymond Turrisi, Mike Benjamin (PI) \\ \hline 
  \var{Sponsors}: & MIT UROP Office \\ \hline 
  \var{Software}: & MOOS-IvP, \urlx{https://moos-ivp.org} \\ \hline 
                  & ArduRover, \urlx{https://ardupilot.org} \\ \hline 
                  & BlueOS \urlx{https://blueos.cloud} \\ \hline 
  \var{Robots}:   & The Blueboat \urlx{https://oceanai.mit.edu/pavlab/robots/blueboat} \\ \hline
\end{longtable}
\normalsize


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%\section*{Related Work}

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