2. Jonathan Wong Chong

13. 14.8V Polymer Li-Ion Batteries o Only powering thrusters 19v 4Ah Li-Ion External Laptop Battery o Powers main CPU unit o Lasts roughly 2-3 hours o Essentially powers all USB devices as well 12v Li-Ion 18650 Box Battery o Regulated to power actuation system

14. Jonathan Wong Chong

17. Matthew Neafie

18. Graphical SURF Example (achuwilson) Matthew Neafie

19. Previous Demonstration RoboSub Team 2012-2013 Matthew Neafie

24. Device that will contribute to Data Acquisition module Sparkfun Razor IMU Nine Degrees of Freedom (9DoF) Incorporates three sensors into one compact board ITG-3200 Triple-Axis Gyroscope (Roll, Pitch and Yaw) ADXL345 Triple-Axis Accelerometer HMC5883L Triple-Axis Magnetometer Data is directly processed by on-board ATmega328 Output via serial communication 3.5V-16V DC input Julius Cobb

25. Arduino Mega will be programmed to read output from IMU via serial stream Relevant data will be output to the MPU for use by the other modules Gyroscope : Roll, Pitch and Yaw Accelerometer : X-acceleration, Y-acceleration and Z- acceleration Julius Cobb

26. Main purpose will be to stabilize the AUV Stabilization module will essentially poll the IMU to determine whether or not the AUV is balanced If Attitude is determined to be abnormal, run stabilization algorithms in conjunction with the Motion Control module Input IMU data Output Stabilization methods for the Motion Control module Julius Cobb

27. Two essential jobs Maintain stabilization of AUV Guide the AUV along the path determined by Path Planning and Decision-maker Control System modules Input Path data determined by DmCS and Path Planning modules Control data produced by the Stabilization module Output Data to increase/decrease current thrust levels for each of the six different thrusters Julius Cobb

28. Simultaneous control of the six thrusters via the Motion Control module will allow AUV movement in various directions Movement in basic directions is summarized by the table below : Nose of RoboSubKey Julius Cobb

30. Arduino Mega Operating Voltage: 5V Input Voltage: 7-12V Digital I/O Pins: 54 (15 allow PWM output) Analog Input Pins: 16 DC Current per I/O Pin: 40mA L298 H-Bridge Motor Controller Operate Voltage: 6-26V 4A total drive current Requires 5V for board power Motor direction indicator LEDs Julius Cobb

32. Weighted Total Output Daniel Cifredo

33. Gate Parking Torpedo Daniel Cifredo

34. Gate Parking Torpedo Removed Daniel Cifredo

38. Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15Ebay$15 PVC - 10 ftBuild obstacle course8$5.50Grainger$44 PVC connector - elbowBuild obstacle course2$2.50 Home Depot$5 PVC connector - CapBuild obstacle course4$2.50 Home Depot$10 Orange Duct Tape 15 ydBuild obstacle course4$5DuckTape$20 PVC glueBuild obstacle course3$5Grainger$15 Total $109 Daniel Cifredo

39. Entry Fee 500 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15Ebay$15 PVC - 10 ftBuild obstacle course8$5.50Grainger$44 PVC connector - elbowBuild obstacle course2$2.50Home Depot$5 PVC connector - CapBuild obstacle course4$2.50Home Depot$10 Orange Duct Tape 15 ydBuild obstacle course4$5DuckTape$20 PVC glueBuild obstacle course3$5Grainger$15 Hotel Price in San diego 675 $450 Price to rent R/V 12200 Daniel Cifredo

40. Entry Fee 500 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15Ebay$15 PVC - 10 ftBuild obstacle course8$5.50Grainger$44 PVC connector - elbowBuild obstacle course2$2.50 Home Depot$5 PVC connector - CapBuild obstacle course4$2.50 Home Depot$10 Orange Duct Tape 15 ydBuild obstacle course4$5DuckTape$20 PVC glueBuild obstacle course3$5Grainger$15 Price to rent R/V 12200 Daniel Cifredo

41. Entry Fee 500 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15Ebay$15 PVC - 10 ftBuild obstacle course8$5.50Grainger$44 PVC connector - elbowBuild obstacle course2$2.50Home Depot$5 PVC connector - CapBuild obstacle course4$2.50Home Depot$10 Orange Duct Tape 15 ydBuild obstacle course4$5DuckTape$20 PVC glueBuild obstacle course3$5Grainger$15 Hotel Price in San diego 675 $450 Price to fly 3150 $450 Price to rent car 146 400 Daniel Cifredo

42. Entry Fee 500 Traxxas #2056 Waterproof ServoA servo that is used with the ball drop1$15Ebay$15 PVC - 10 ftBuild obstacle course8$5.50Grainger$44 PVC connector - elbowBuild obstacle course2$2.50 Home Depot$5 PVC connector - CapBuild obstacle course4$2.50 Home Depot$10 Orange Duct Tape 15 ydBuild obstacle course4$5DuckTape$20 PVC glueBuild obstacle course3$5Grainger$15 Hotel Price in San diego 675 $450 Price to rent car 146 400 Daniel Cifredo

43. Jonathan Wong Chong