MSU ROV Team Final Review Senior Design 2 November 19, 2013

Team Members Justin Gilmer Computer Engineering 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

Faculty Advisor Jane Moorhead Professor

Overview Competition Overview Technical Constraints PCB Manipulator Arm Packaging

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

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

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

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

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

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

Technical Constraints NameDescription Operating Depth The ROV Must Operate at depths up to 3.2 meters Operating 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

PCB Board Layout

PCB Component Verification

PCB Actual PCB

PCB Continuity Testing

PCB Fully Populated PCB

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

Manipulator Arm

Manipulator Arm Video

Packaging - Housing PVC Frame – Light weight and customizable PVC Pressure Canisters – Waterproof end cap for easy repairs Custom Paint Job

Packaging - Arm Manipulator Arm – Custom components – Higher manufacturing cost

Packaging – Motors Motor Shrouds – Maneuver faster – Safety

Packaging – Motors

Packaging - Interface USB Connected – Compatibility Easy Setup – Open source camera software – Xbox Controller

Parts List

References [1] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu, Print (used for the physical design of the Rov) [2] Observer 3.1. (2013, Feb 7). [Online]. Available: observer-3-1-de-subsea-techhttp:// observer-3-1-de-subsea-tech [3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: [4] Arduino. [Online]. Available: [5] Circuits At Home. [Online]. Available: [6] Sparkfun. [Online]. Available:

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