Final Presentation
Senior Design I
MSU SeaMATE ROV Explorer Class
[1]
Cameron Brown
Computer Engineer
Cody Veteto
Electrical Engineer
TEAM MEMBERS
Michael Acosta
Electrical Engineer
Jonathan Ware
Electrical Engineer
Jane Moorhead
Team Advisor
Competition OverviewDesign ConstraintsSystem OverviewSubsystem TestingFuture Goals
OVERVIEW
Marine Advanced Technology Education (MATE)
Remotely Operated Vehicle (ROV) competition
Top level of competition
Mission tasks involve: Equipment installation, repair, and
replacement Design and installation of a
transmissometer Removal of biofouling
WHAT IS MATE & THE 2013 EXPLORER CLASS?
[2]
Name Description
Operating PowerThe MSU SeaMATE ROV must operate at 50.8 +/- 0.3VDC
with a maximum current draw of 40A.
Distance SensorThe MSU SeaMATE ROV must be able to read the distance of certain objects in the competition course with an accuracy of 10cm or greater.
Payload CapacityThe MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload.
Video CapabilityThe MSU SeaMATE ROV must have at least one camera with a range of 3m or greater.
Tethered Communication
The MSU SeaMATE ROV must send information from the vehicle to the controller and laptop via a tether with a minimum length of 18m.
TECHNICAL CONSTRAINTS
Type Name DescriptionHealth/Safety Safety
The MSU SeaMATE ROV is designed to keep the users safe.
EnvironmentalEnvironment Preservation
The MSU SeaMATE ROV design takes into account the surroundings of its operating environment.
PRACTICAL CONSTRAINTS
[2]
Measures of safety taken into consideration: 40A fuse on tether REQUIRED 40A circuit breaker on power supply 8A and 30A fuses on input and output of DC-DC
Converter, respectively
HEALTH/SAFETY
Area of operation: Swimming PoolROV is designed to not damage the mission
props or environment in any wayROV is designed to have slightly more than
neutral buoyancy ROV will float to surface
for easy retrieval in event of control system malfunction
ENVIRONMENTAL
[3]
SYSTEM OVERVIEW
Power Supply8 12V/7.0Ah Lead-Acid batteries
DC-DC ConverterMurata HPH-12/30-D48NB-C
POWER SUPPLY & DC-DC CONVERTER
The MSU SeaMATE ROV must operate at 50.8 +/- 0.3VDC with a
maximum current draw of 40A.
UNI-T UT390B Laser Range: 0.05m – 45m Accuracy: +/- 2mm
Modified to operate using Xbox 360 controller
Serial communication with Arduino
DISTANCE MEASUREMENT SYSTEM
The MSU SeaMATE ROV must be able to read the distance of certain objects in the competit ion course with an accuracy of 10cm or greater.
Measurement test through water Average ratio of 1.426 between air and water measurements Divide the laser measurement by this ratio to get actual
distance Produces the required accuracy of +/- 10cm
DISTANCE MEASUREMENT SYSTEM
Actual Depth (m)
Laser Distance(m)
Ratio
0.940 1.42 1.51
1.14 1.63 1.43
1.29 1.86 1.43
1.42 2.03 1.42
1.91 2.65 1.40
2.13 2.94 1.37
Sparkfun Robot Claw MKIIPaired with Sparkfun Micro Servo
MANIPULATOR ARM
The MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload.
MANIPULATOR ARM
10 Newton Payload Test Using Spring Scale
VIDEO SYSTEM
Three Kinobo USB cameras provide multiple viewing angles
Laptop displays all three video feeds simultaneously using ManyCam software
The MSU SeaMATE ROV must have at least one camera with a range of 3m or greater.
VIDEO SYSTEM
Camera Viewing Range Test
Constraints require a 3m minimum viewing range
Range of video display was measured using tape
Objects clearly visible at distances greater than 6m245 in
(6.22 m)
3 USB repeater cables (20m) 3 Cameras through
USB hub Xbox controller Arduino
MicrocontrollerPower and Ground
cables (>20m) 16 AWG Marine Grade
Wire
TETHER
The MSU SeaMATE ROV must send information from the vehicle to the controller and laptop via a tether with a minimum length of 18m.
Serial communication testProve digital serial communication exists between PIC24H ADC and laptop controller through USB
TRANSMISSOMETER
“2.”
“9” “8” “6” “\r\n”
TRANSMISSOMETER
Light Receiver test/MATLAB resultsTest analog voltage outputs in low and bright light conditions
MATLAB results display change in received light over 5 minute time period
SYSTEM TEST
Needed: Construct enclosures for main electronics, cameras, and
distance sensor Waterproof all enclosures, cables, and cable connections Design and implement PCBs
Suggested Improvements: Add temperature sensor in main enclosure Add servo to increase visibility of camera Add propeller shrouds
FUTURE GOALS
[1] Rendering of ROV. September 28, 2013. Available: http://sketchup.google.com/3dwarehouse/details?mid=9f7fc1470de5d00efe6f757657d676c4
[2] “Underwater Robotics Competitions,” September 2, 2013. Available: http://www.marinetech.org/rov-competition-2/-
[3] Picture depicting Buoyancy. September 29, 2013. Available: http://www.scubadivingfanclub.com/I_swam.html
REFERENCES
Final Presentation
Senior Design I
MSU SeaMATE ROV Explorer Class
[1]
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