Midsemester Presentation Senior Design I MSU SeaMATE ROV Explorer Class [1]

TEAM MEMBERS Michael Acosta Electrical Engineer Jonathan Ware Electrical Engineer Cameron Brown Computer Engineer Cody Veteto Electrical Engineer Jane Moorhead Team Advisor

 Competition Overview  Design Constraints  System Overview  Approach, Tradeoff Analysis, & Progress  Timeline OVERVIEW

 Marine Advanced Technology Education (MATE)  Headquartered at Monterey Peninsula College (MPC) in Monterey, California  Remote Operated Vehicles (ROV) competitions  Provides opportunities for education of K- 12, community college, and university students in the ocean workplace  Connect students to companies to create strong career possibilities WHAT IS MATE? [3]

 Top level of competition  One mission consisting of four tasks  Safe and secure underwater operation in a given timeframe  Equipment installation, repair, and replacement  Design and installation of a transmissometer  Removal of biofouling 2013 EXPLORER CLASS [3]

NameDescription Operating Power The MSU SeaMATE ROV must operate at 50.8V +/- 0.3V with a maximum current draw of 40A. Distance Sensor The MSU SeaMATE ROV must be able to read the distance of certain objects in the competition course. Payload Capacity The MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload. Video Capability The 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

TypeNameDescription Health/SafetySafety The MSU SeaMATE ROV is designed to keep the users safe. Environmental Environment Preservation The design takes into account the surroundings of its working environment. PRACTICAL CONSTRAINTS [3]

 Measures of safety taken into consideration:  40A fuse on tether REQUIRED  Fuses on each battery connection of the power supply  Extremely thorough waterproofing on all cable connections HEALTH/SAFETY [4]

 Area of operation: Swimming Pool  ROV is designed to not damage the mission props or environment in any way  ROV is designed to have slightly more than neutral buoyancy  ROV will float to surface for easy retrieval in event of control system malfunction ENVIRONMENTAL [5]

SYSTEM OVERVIEW Microcontroller Power System Accelerometer Thruster System Distance Measurement System Camera System Manipulator Arm Laptop Surface Controller Transmissometer

 Power Supply  8 12V/7.0AHh Lead-Acid batteries  Power Cables  16 AWG Marine Grade Wire  48V to 12V DC-DC Converter  Murata HPH-12/30-D48NB-C  12V Power Busbar  BLUE SEA SYSTEMS Standard DualBus 100A POWER SYSTEM [6]

AlternativesMax Output Current (A) Max Power (W) Dimensions (Inches) Mounting Style PriceInventory Mean Well SD-500L x 4.53 x 1.97External$ Cincon CFB600-48S x 2.40 x 0.50 (Full-Brick) External$ Non- stocked TDK-Lambda PAF700F48-12/T x 2.40 x 0.50 (Full-Brick) N/A$ Non- stocked Murata HPH-12/30-D48NB-C x 2.30 x 0.40 (Half-Brick) Through Hole$ Zahn DCDC x 3.29 x 2.24External$294.00N/A POWER SYSTEM – DC-DC CONVERTER Murata [8]Mean Well [7]Zahn [9]

 Mission tasks require movement of handles, crates, and plugs  ROV must be able to manipulate a 10 Newton payload  Sparkfun’s Robot Claw – MKII paired with a Micro Servo has been used for initial prototyping MANIPULATOR ARM

MICROCONTROLLER AlternativesI/O Pins Max Current Draw (Per Pin) Operating Voltage Price Arduino Uno14 (6 PWM)40 mA5 VDC$12.00 Arduino Mega (15 PWM)40 mA5 VDC$28.95 PIC24H2116 mA3.3 VDC$4.21 Arduino Mega 2560Arduino UnoPIC24HJ32GP202 [10] [11]

THRUSTER SYSTEM Microcontroller AccelerometerMotor Drivers (8) LaptopSurface Controller  Thrusters (8)

THRUSTER SYSTEM Thrusters AlternativesWaterproofMax CurrentOperating VoltagePrice Johnson 1000 GPH Bilge Pump Yes3 A12 VDC$28.99 Johnson 1250 GPH Bilge Pump Yes3 A12 VDC$27.99 Seabotix BTD-150Yes4.25 A19 VDC$ AlternativesMotor ControlMax CurrentVoltage RangePrice TLE 5206 H-Bridge15 A12 VDC$6.89 Pololu Dual Motor Driver Shield 212 A12 VDC$49.95 Motor Drivers

Thruster Placement THRUSTER SYSTEM AlternativesHorizontalVerticalStrafeYawRollPitch 4 ThrustersYes No 6 Thrusters, 4 Vectored Pairs Yes No 8 Thrusters, 4 Vectored Pairs Yes [12]

SURFACE CONTROLLER Arduino Interface Arduino USB Host Shield Xbox 360 Controller

SURFACE CONTROLLER [13]

 Three Kinobo B3 HD webcams are used to create the camera system  Connected by USB 2.0  Resolution: Full HD 1080px  Built in LED lights  Installs with no proprietary software  Unit Price: $18.99 CAMERA SYSTEM

ManyCam Multi-Webcam Software on Laptop Kinobo B3 HD #1 USB Hub Kinobo B3 HD #3Kinobo B3 HD #2

MethodAdvantagesDisadvantages Tape MeasureInexpensive and simple to use Requires servo and not innovative OdometerAccurate and easy to use Difficult to keep ROV on pool floor for correct measurement Sonar Large range and already waterproof Requires recalibration for underwater use and would not be accurate in swimming pool Laser/Camera Module Ready to use system that calculates distance with a sensor and camera Maximum distances will not accommodate the requirements of the competition scope Laser Distance Meter Able to be modified for serial data interface with the Arduino Testing required for underwater use and must be waterproofed DISTANCE MEASUREMENT SYSTEM

 UNI-T UT390B 45m Laser Distance Meter  Measurement accuracy: +/- 2mm  Measurement range: 0.05~45m  Laser level: 635nm, <1mw, Class II  Operating temperature: -10°C~40°C DISTANCE MEASUREMENT SYSTEM [14]

ACCELEROMETER AlternativesOperation Voltage (V) Dimensions (mm) Mounting Style Sensing Range Price Analog Devices Gyroscope (ITG-3200) 2.1V – 3.6V4 x 4 x 0.9Through Hole+/ deg$ Analog Devices Accelerometer (ADXL193) 3.5V - 6V5 x 5 x 2Through-hole+/- 250g$29.95 Analog Devices Accelerometer (ADXL335) 1.8V - 3.6V4 x 4 x 1.45Through-hole+/- 3g$12.88 [15]

 An instrument used for measuring the turbidity of a medium  Competition requires plot change in turbidity over 5 minute period  MUST be a separate system from the ROV TRANSMISSOMETER Light Source ADC on PIC 24 Photoresistor Laptop Plot Voltage Change vs. Time (5 min.)

 Prototype Board and Setup TRANSMISSOMETER Serial Connection/Power Source ADC on PIC 24 Microcontroller Photoresistor Light Source

AugustSeptemberOctoberNovemberDecember Research Purchasing Design Coding Testing Prototype TIMELINE

 [1] Rendering of ROV. September 28, Available:  [2] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu,  [3] “Underwater Robotics Competitions,” September 2, Available: competition-2/- competition-2/-  [4] Photo of Fuse Holder. September 29, Available: radio.com/catalog/misc/5241.htmlhttp:// radio.com/catalog/misc/5241.html  [5] Picture depicting Buoyancy. September 29, Available:  [6] BLUE SEA SYSTEMS Standard DualBus 100A. September 24, Available: 1&langId=-1&storeId=11151&storeNum=50523&subdeptNum=50549&classNum=50554#.UkihsxCc6W0 1&langId=-1&storeId=11151&storeNum=50523&subdeptNum=50549&classNum=50554#.UkihsxCc6W0  [7] Mean Well SD-500L-12. September 5, Available: 12-dc-dc-converter.htmlhttp:// 12-dc-dc-converter.html  [8] Murata HPH-12/30-D48NB-C. September 9, Available: C/?qs=sGAEpiMZZMtwaiKVUtQsNecaXDqbhAmvo4R61L1H%2fh0%3d C/?qs=sGAEpiMZZMtwaiKVUtQsNecaXDqbhAmvo4R61L1H%2fh0%3d  [9] Zahn DCDC September 9, Available:  [10] Photo of Arduino. September 29, Available:  [11] Photo of PIC24H. September 29,2013. Available:  [12] Images of various thruster placements. September 29, Available:  [13] Photo of Xbox 360 Controller. September 29, Available:  [14] UNI-T UT390B 45m Laser Distance Meter. September 18, Available:  [15] Adxl335 Triple Axis Accelerometer Breakout. September 7, Available: Compatible/dp/B007Y52CW8/ref=sr_1_2?s=electronics&ie=UTF8&qid= &sr=1- 2&keywords=adxl Compatible/dp/B007Y52CW8/ref=sr_1_2?s=electronics&ie=UTF8&qid= &sr=1- 2&keywords=adxl+335 REFERENCES

Midsemester Presentation Senior Design I MSU SeaMATE ROV Explorer Class [1]