MIT ROV TEAMHeather Brundage, Lauren Cooney, Keith

Durand,* Eddie Huo, Pete Kruskall*, Harry Lichter, Olayemi Oyebode*, Pranay Sinha*, M.

Jordan Stanway, Kurt Stiehl, Thaddeus Stefanov-Wagner, Daniel Walker

* Not Pictured

Presentation Outline

• Design Objectives

• MTHR

• JR

• Testing

• Budget

Design Objectives• Maneuverability of Robot vs. Manipulator

• Small Diameter, High Thrust Propulsors

• Minimal Tether

• Compact Frame

• Robust Control System

• Minimize Complexity

• Expand Student Skill-set

• Invest in Future Iterations of the ROV

NiMH Batteries

Control Housing

Laser-cut Frame

Fixed Gripper

Contra-rotating Propellers

•Fiber Optic Tether•Topside Computer Control•Deployment Solenoid

Motor Housings

MTHR

Frame & Buoyancy

• Strong trapezoidal frame designed to maximize free flow to thrusters.

• Redundant plastic removed with laser cutter.

• Vertical thrusters positioned 30° off center to provide lateral movement.

• Buoyancy in electronics housing and sealed PVC pipe.

Propulsion

• Ducted contra-rotating propellers provide superior efficiency at high thrust coefficient.

• Designed to move MTHR up to 2 knots.

• Complete parametric and hydrodynamic design by students.

Propulsion Challenges• Maxon RE40 gearmotors

• Precision-machined custom housings

• Enhance motor cooling

• Spring-loaded PTFE shaft seal

• Double o-ring static seals

• Laser-cut motor cradles

• Lots of work made it a team effort to get these built and in the water.

Power System

• System designed by team members including charge circuits

• Matched power requirements and size constraints

• 10 NiMH battery cells

• Thermal resetting fuse

• Compact housing

Control SystemJoysticks

Computer

Software

Fiber

Board

Fiber

Board

PIC

18F-4431

PIC

18F-4431

Thruster

Motors &

Video

Gripper

and

Solenoid

GUI

Video ROBOT

COMMANDS

Topside

Bottomside

Topside Software

Sensors

• Three color video cameras

• Feeds are multiplexed onto two channels on the tether

• Output is displayed on laptops

• System also provides sensors for the motor power usage

Payload

• Use a solenoid to release science package

• Developed 5-axis manipulator and controller

• Instead used one fixed gripper - Relied on robot maneuverability

Tether

• One strand of spooled single mode fiber

• Two lines of RS-232 and two lines of video

• Allows for better maneuverability

• Team members are trained to re-terminate and maintain the system

JR

• Purpose: Act as a flying eye

• Heavily modified Sea-Perch

JR

• Purpose: Act as a flying eye

• Heavily modified Sea-Perch

ObjectiveMTHR

JR

Testing

Team Expenses ResourcesROV Thrusters $2,022.04 Monetary

Frame $43.25 MATE Travel Stipend $1,000.00 Manipulators $64.01 COE Contribution $4,000.00

Tether $53.30 ME Contribution $4,000.00 Electronics $379.04 ExxonMobil Contribution $6,000.00 Overhead $450.00 Sea Grant Contribution $3,000.00

JR $75.00 Total monetary resources $18,000.00 Research Manipulator $600.00

Thrusters $1,500.00 Other PrizmElectronics $800.00 Fiber spooler $1,000.00 Propeller $200.00 Fiber Muxes $10,000.00

Media Poster $150.00 AltiumPaper $50.00 CircuitMaker $12,000.00

Resume book $30.00 FIST-Shirts $302.94 Fiber training $299.00

Travel Hotel $1,545.60 Fiber tools $150.00

Vans $1,000.00 Total donated items: $23,449.00 Shipping $300.00

Airfare $3,571.80 Re-used itemsFood $543.24 Cameras 200x3 $600.00

Capitol Laptop $1,500.00 NiMH batteries 22.65x20 $453.00

Fiber Optic Tools $900.00 Total reused items: $1,053.00

Total Expenses: $16,080.22

ROV Production Cost: $3010.00

Our Sponsors

Q & A