Edward Polk II ET 494 Advisor: Dr. Cris

Introduction Submersibles are underwater machines with many applications including deep sea exploration and repairing critical underwater systems like the oil pipeline in the Deepwater Horizon spill. Handling such machines is a difficult task requiring several operators to operate a sophisticated control scheme. Autonomous stabilization would drastically reduce the workload for operating team and the magnitude of control station.

Objectives Design a miniaturized submersible. Use its thrusters to counteract the effect of drift or turbulent currents and remain stationary. Develop an adaptive control algorithm to perform this task autonomously.

Primary Components Arduino Mega 2560 PVC pipe Arduino GY-521 MPU-6050 Module 3 axial gyroscope accelerometer stance tilt module Amico RPM 3-12V High Torque DC Motors with Propeller L293 Quadruple Half-H Drivers

Previously Accomplished Milestones Research possible materials for project and select ones that are suitable for the submersible. Find an effective way to waterproof the motors. Construct and test the circuit with the motors, then the MPU-6050 module. Construct the current design model,develop a sample Arduino program to test the submersible in water. Present a working model that will be the basis of the next iteration of Senior Design.

Finished Submersible

Spring Milestones Conduct more tests to ensure that the frame is waterproof and will remain that way and that the motors are powerful enough to overcome the forces applied to it. Conduct research for neural networks. Design a program that records the displacement values taken by the gyroscope and stores the data on the Arduino Mega. This data will be analyzed by the neural network allowing the device to learn to stabilize itself. Prepare the final demonstration and deliver it to Dr. Cris.