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

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

overview Competition Overview Design Constraints System Overview Subsystem Testing Future Goals Cameron

What is Mate & The 2013 Explorer class? Marine Advanced Technology Education (MATE) Remotely Operated Vehicle (ROV) competition Top level of competition Mission tasks involve: Equipment installation, repair, and replacement Design and installation of a transmissometer Removal of biofouling Cameron [2]

Technical constraints Name Description Operating Power The MSU SeaMATE ROV must operate at 50.8 +/- 0.3VDC 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 with an accuracy of 10cm or greater. 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. Cameron

Practical constraints Type Name Description Health/Safety Safety The MSU SeaMATE ROV is designed to keep the users safe. Environmental Environment Preservation The MSU SeaMATE ROV design takes into account the surroundings of its operating environment. Cameron [2]

Health/Safety Measures of safety taken into consideration: 40A fuse on tether REQUIRED 40A circuit breaker on power supply 8A and 30A fuses on input and output of DC-DC Converter, respectively Cody

environmental 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 Cody [3]

System overview Cody

Power Supply & DC-DC Converter The MSU SeaMATE ROV must operate at 50.8 +/- 0.3VDC with a maximum current draw of 40A. Power Supply 8 12V/7.0Ah Lead-Acid batteries DC-DC Converter Murata HPH-12/30-D48NB-C Cody

Distance measurement system The MSU SeaMATE ROV must be able to read the distance of certain objects in the competition course with an accuracy of 10cm or greater. UNI-T UT390B Laser Range: 0.05m – 45m Accuracy: +/- 2mm Modified to operate using Xbox 360 controller Serial communication with Arduino Jonathan

Distance measurement system Actual Depth (m) Laser Distance(m) Ratio 0.940 1.42 1.51 1.14 1.63 1.43 1.29 1.86 2.03 1.91 2.65 1.40 2.13 2.94 1.37 Jonathan Measurement test through water Average ratio of 1.426 between air and water measurements Divide the laser measurement by this ratio to get actual distance Produces the required accuracy of +/- 10cm

Manipulator arm Sparkfun Robot Claw MKII The MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload. Sparkfun Robot Claw MKII Paired with Sparkfun Micro Servo Jonathan

Manipulator arm 10 Newton Payload Test Using Spring Scale Jonathan

Video system Three Kinobo USB cameras provide multiple viewing angles The MSU SeaMATE ROV must have at least one camera with a range of 3m or greater. Three Kinobo USB cameras provide multiple viewing angles Laptop displays all three video feeds simultaneously using ManyCam software Jonathan

Video system Camera Viewing Range Test Constraints require a 3m minimum viewing range Range of video display was measured using tape Objects clearly visible at distances greater than 6m Jonathan 245 in (6.22 m)

Tether 3 USB repeater cables (20m) Power and Ground cables (>20m) The MSU SeaMATE ROV must send information from the vehicle to the controller and laptop via a tether with a minimum length of 18m. 3 USB repeater cables (20m) 3 Cameras through USB hub Xbox controller Arduino Microcontroller Power and Ground cables (>20m) 16 AWG Marine Grade Wire Jonathan

TRANSMISSOMETER Serial communication test Prove digital serial communication exists between PIC24H ADC and laptop controller through USB “2.” “9” “8” “6” “\r\n” Michael

TRANSMISSOMETER Light Receiver test/MATLAB results Test analog voltage outputs in low and bright light conditions MATLAB results display change in received light over 5 minute time period Michael

System test Michael

Future goals Needed: Suggested Improvements: Construct enclosures for main electronics, cameras, and distance sensor Waterproof all enclosures, cables, and cable connections Design and implement PCBs Suggested Improvements: Add temperature sensor in main enclosure Add servo to increase visibility of camera Add propeller shrouds Michael

references [1] Rendering of ROV. September 28, 2013. Available: http://sketchup.google.com/3dwarehouse/details?mid=9f7fc1470de5d00efe6f757657d676c4 [2] “Underwater Robotics Competitions,” September 2, 2013. Available: http://www.marinetech.org/rov-competition-2/- [3] Picture depicting Buoyancy. September 29, 2013. Available: http://www.scubadivingfanclub.com/I_swam.html Michael

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