EE 396/496Scout ROVby Chris McLeod

& Autonomous Systems Lab

Project Outline

Phase I – Summer 2005

• Design, build, and demonstrate a prototype for a very small Remotely Operated Underwater Vehicle.

Phase II – Fall 2005

• Design and test user interface system for vehicle.Phase III – Spring 2006

• Evaluate and solve prototype design problems and build a comprehensive underwater ROV system.

Background & Motivation

S.A.U.V.I.M.• Semi - • Autonomous• Underwater• Vehicle for• Intervention • Missions

Objective of the Scout ROV system

• Easy deployment• Access small enclosures • Low cost

• Assist SAUVIM in connecting to underwater communication and data stations.

• Self inspection of vehicle• Several can be used to simultaneously • Assist in inspection arm manipulation

Phase I: Flow Chart

CAMERA

ATTITUDE

THRUSTERS

LAPTOPCOMPUTER

MICROPROCESSOR

Phase I: The Prototype

Off-the-shelf components• Housing• Thrusters• Camera• Somebody’s laptop

Phase I: Mobility in the x-y plane

Phase I: DC Motors

• The H-bridge and the L298N• 2 independent bi-directional DC

motors

• Independent 5V supply for motors as well as for logic

Phase I: Mobility in the z plane

Phase I: Counterbalance & Housing

• The frame is designed to slide perfectly into housing

Initial construction• Counterbalance

controlled by a 12V stepper motor

Phase I: Microprocessor

• Rabbit 2300 microprocessor– Receive commands from user (from computer) – Programmed to control DC & Step motor drivers– Uses Dynamic C language in a simple IDE– Requires 5V supply

Phase I: Stepper Motor Driver

• Stepper motor driver– 1.8o step angle– Current adjustable– Independent 12V supply & 5V for logic

Phase I: Completed (9/9/05)

Phase II: User Interface

CAMERA

ATTITUDE

THRUSTERS

LAPTOPCOMPUTER

MICROPROCESSOR

JOYSTICK

Phase II: Development (4/3/06)

Cross-platform GUI• DevC++ by

Bloodshed• wxWidgets• OpenCV by Intel

Phase III: Flow Chart

FEEDBACK- Temperature- Compass- Depth- Battery Power- Integrity- Attitude- Pitch

CAMERA

ATTITUDE

THRUSTERS

LAPTOPCOMPUTER

MICROPROCESSOR

JOYSTICK

Thank you.For more information http://www2.hawaii.edu/~cmcleod/other.htm

Any questions?