Mid-Semester Review Senior Design 2 October 8, 2013 MSU ROV Team Mid-Semester Review Senior Design 2 October 8, 2013

Team Members Arduino Programming Circuit Design Web Design Robbie Lundine Computer Engineering Arduino Programming Circuit Design Web Design Mark McConnell Electrical Engineering Team Leader Pic Programming Circuit Design Mechanical Design / Construction Chance Sistrunk Electrical Engineering Pic Programming Circuit Design Mechanical Design / Construction Justin Gilmer Computer Engineering Arduino Programming Circuit Design Web Design Mark

Faculty Advisor Jane Moorhead Professor Mark

Overview Competition Overview Technical Constraints PCB Manipulator Arm Packaging Mark

Competition Overview Course layout Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Competition Overview Mission 1 Part 1 Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Competition Overview Mission 1 Part 2 Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Competition Overview Mission 2 Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Competition Overview Mission 3 Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Competition Overview Mission 4 Operators Station Floating Array Thermal Vent Mark BIA Stationary Array

Technical Constraints Name Description Operating Depth The ROV Must Operate at depths up to 3.2 meters Power The ROV must operate from a 12.7V +/- 0.3V voltage source and draw less than 25 amps of current Maneuverability The ROV must maneuver effectively enough to make it competitive Video Capability The ROV must have a minimum of one camera with a 3 meter range to allow it to compete effectively Manipulator Arm The ROV must have a manipulator arm capable of lifting 2 Newtons

Operating Depth Sank pressure canister to approximately 3.2 meters

Operating Power MATE current limit is 25A With all components in operation, total current draw was less than 13A

Maneuverability Front and rear vertical motors work independently of one another

Maneuverability Horizontal motors work independently to allow for a tighter turning radius.

Video Capability Camera 1 gives view of end of arm 1 3 meters

Video Capability Camera 2 gives general view of space under ROV 2

PCB Schematic Design Mark

PCB Board Layout Mark

PCB Component Verification Mark

PCB Actual PCB Mark

PCB Continuity Testing Mark

PCB Populating the PCB Mark

Manipulator Arm Top of ROV The claw will clamp closed and open again. rotate. 90 degrees of movement from left to right Top of ROV

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Packaging - Housing PVC Frame PVC Pressure Canisters Custom Paint Job Light weight and customizable PVC Pressure Canisters Waterproof end cap for easy repairs Custom Paint Job Justin PVC: lightweight, customizable, cheap, naturally buoyant, hide extra weight, Pressure canister: large enough to house electronics/pcb , water proof (silicon/rtv wires so non-removable), clear lens for camera for both canisters (secondary is adjustable), end cap,

Packaging - Arm Manipulator Arm Custom components Higher manufacturing cost Justin Included with ROV (non-detachable), custom built using 3D printing, molds must be made in manufacturing which will raise cost, now the ROV isn’t built with only off the shelf parts which adds complexity to our design making it harder for competitors to replicate our product

Packaging – Motors Motor Shrouds Maneuver faster Safety Justin Change from last semester's design: remove mesh and implement shrouds, force dissipated -> instead shrouds focuses water down to a more direct/concentrated stream. Giving us a greater push. Must have vents for water to flow through. Also the mesh was used for safety from objects in the water and protection for users. Shrouds still provide these advantages.

Packaging - Interface USB Connected Easy Setup Compatibility Open source camera software Xbox Controller Justin Interfacing with ROV is a very easy set up. USB works with any PC, just need the camera software which can be downloaded online. Plug in power to a car battery. Then it is ready to go. Xbox controller included with manual on the controller button layout.

References [1] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu, 2010. Print (used for the physical design of the Rov) [2] Observer 3.1. (2013, Feb 7). [Online]. Available: http://www.allboatsavenue.com/mini-robot-sous-marin-observer-3-1-de-subsea-tech [3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: http://www.marinetech.org/about/ [4] Arduino. [Online]. Available: www.arduino.cc [5] Circuits At Home. [Online]. Available: www.circuitsathome.com [6] Sparkfun. [Online]. Available: www.sparkfun.com

Mid Semester Presentation Senior Design 1 February 21, 2013 MSU ROV Team Mid Semester Presentation Senior Design 1 February 21, 2013