ECE 791 Project Proposal University of New Hampshire Submitted to: W. Thomas Miller Date Submitted: 10/21/2013 ECE Faculty Advisor: W. Thomas Miller, III, Ph. D. ME Faculty Advisor: May-Win Thein, Ph. D. Courses Involved: CS 415, CS 416, CS 515, CS 520, ECE 541, ECE 649 Project Completion Date: May 2013

Goal To design and build the controls for a remotely operated vehicle which will be entered into the 2014 MATE competition in Michigan.

Mission Tasks SHIPWRECK Measure the shipwreck’s length, width, and depth Conduct a sonar scan of the wreck Create a photomosaic Unlock and open a container to determine the cargo Remove debris from a hole in the wreck Enter the wreck through this 75 cm x 75 cm hole Search for date the ship was built on an internal beam Retrieve a ceramic dinner plate from inside the ship to determine its home port Identify the ship using known parameters SCIENCE Measure the conductivity of the groundwater Collect a sample of a microbial mat Recover a sensor and deploy a new one Place a quadrat on the top surface of the shipwreck, count the number of zebra mussels inside the quadrat, and estimate the total number of zebra mussels on the shipwreck using the wreck’s dimensions CONSERVATION Remove bottles, discarded anchor lines, and a Danforth anchor with chain

Project Teams Chassis Team Propulsion Team Controls Team Tether Team

Components Flowchart

Design Objectives GUI Design Display sensor information Show pitch of the ROV and other IMU data Alert on malfunctioning hardware Optional control of thrusters Camera movement Arduino Software Algorithm for control of thrusters based on input Send PWM signals to motor drivers for thrusters Send directional signals to motor drivers for thrusters Keep ROV steady in water by locking on to current depth information OBC (On Board Computer) Software Send data to computer on land for processing Send commands from pilot to arduino for thruster control Obtain data from sensors and IMU Send camera feed to computer on land

Implementation and Testing Program BeagleBoard to act as a bridge between the Arduino and the computer Program Arduino to control thrusters based on signals received from BeagleBoard Program Arduino to receive signals from IMU and multiple sensors and program BeagleBoard to interpret these signals Test each component individually Test each system of components Add each system to ROV chassis and test assembled ROV in the water

Budget Estimate Component Amount Price($) BeagleBoard XM 1 150 Arduino Mega 60 Pololu High-Power Motor Driver 18v15 6 240 9 Degrees of Freedom - Razor IMU 125 PlayStation 3 Controller 50 Cables, Wires, Connectors, Solder TBD 100 Travel to Michigan 700 Sensors   Total: 1525

Project Schedule

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