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]