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EE 396/496 Scout ROV by Chris McLeod & Autonomous Systems Lab.

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Presentation on theme: "EE 396/496 Scout ROV by Chris McLeod & Autonomous Systems Lab."— Presentation transcript:

1 EE 396/496 Scout ROV by Chris McLeod & Autonomous Systems Lab

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

3 Objective of the Scout ROV Object identification Arm manipulation Connect to underwater communication and data stations. Self inspection

4 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.

5 Phase I: Prototype Demonstrate feasibility Smallest design possible Inexpensive components Low power consumption Visual and sensor capabilities

6 Phase I: Flow Chart CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR

7 Phase I: The Prototype Off-the-shelf components Housing Thrusters Camera Somebody’s laptop

8 Phase I: Mobility in the x-y plane

9 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

10 Phase I: Mobility in the z plane

11 Phase I: Counterbalance & Housing The frame is designed to slide perfectly into housing Initial construction Counterbalance controlled by a 12V stepper motor

12 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

13 Phase I: Stepper Motor Driver Stepper motor driver –1.8 o step angle –Current adjustable –Independent 12V supply & 5V for logic

14 Phase I: Umbilical Transmit power Transmit/Receive data

15 Phase I: Completed (9/9/05)

16 Phase I: Problems Counterbalance Umbilical Size/Mass

17 Phase II: User Interface Video display Sensory data Basic operational information –Depth –Pitch –Attitude Adapted user control

18 Phase II: User Interface CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

19 Phase II: Software Cross-platform GUI DevC++ by Bloodshed wxWidgets OpenCV by Intel

20 Phase III: Revision and Integration FEEDBACK - Temperature - Compass - Depth - Battery Power - Integrity - Attitude - Pitch CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

21 Phase III: Revision Counterbalance

22 Phase III: Revision

23 Umbilical – 3 problems –emf from power –cable limitations 24 – 22 AWG vs 18 – 16 AWG –Mass/Size

24 Project Outlook & Timeline

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


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