1. ECE 791 Project Proposal University of New Hampshire
Submitted to: W. Thomas Miller
Date Submitted: 10/21/2013
ECE Faculty Advisor: W. Thomas Miller, III, Ph. D.
ME Faculty Advisor: May-Win Thein, Ph. D.
Courses Involved: CS 415, CS 416, CS 515, CS 520, ECE 541, ECE 649
Project Completion Date: May 2013

2. Goal
To design and build the controls for a remotely operated vehicle which will be entered into the 2014 MATE competition in Michigan.

3. Mission Tasks SHIPWRECK
Measure the shipwreck’s length, width, and depth
Conduct a sonar scan of the wreck
Create a photomosaic
Unlock and open a container to determine the cargo
Remove debris from a hole in the wreck
Enter the wreck through this 75 cm x 75 cm hole
Search for date the ship was built on an internal beam
Retrieve a ceramic dinner plate from inside the ship to determine its home port
Identify the ship using known parameters
SCIENCE
Measure the conductivity of the groundwater
Collect a sample of a microbial mat
Recover a sensor and deploy a new one
Place a quadrat on the top surface of the shipwreck, count the number of zebra mussels inside the quadrat, and estimate the total number of zebra mussels on the shipwreck using the wreck’s dimensions
CONSERVATION
Remove bottles, discarded anchor lines, and a Danforth anchor with chain

4. Project Teams
Chassis Team
Propulsion Team
Controls Team
Tether Team

5. Components Flowchart

6. Design Objectives GUI Design Display sensor information
Show pitch of the ROV and other IMU data
Alert on malfunctioning hardware
Optional control of thrusters
Camera movement
Arduino Software
Algorithm for control of thrusters based on input
Send PWM signals to motor drivers for thrusters
Send directional signals to motor drivers for thrusters
Keep ROV steady in water by locking on to current depth information
OBC (On Board Computer) Software
Send data to computer on land for processing
Send commands from pilot to arduino for thruster control
Obtain data from sensors and IMU
Send camera feed to computer on land

7. Implementation and Testing
Program BeagleBoard to act as a bridge between the Arduino and the computer
Program Arduino to control thrusters based on signals received from BeagleBoard
Program Arduino to receive signals from IMU and multiple sensors and program BeagleBoard to interpret these signals
Test each component individually
Test each system of components
Add each system to ROV chassis and test assembled ROV in the water

8. Budget Estimate Component Amount Price($) BeagleBoard XM 1 150
Arduino Mega 60
Pololu High-Power Motor Driver 18v15 6
240
9 Degrees of Freedom - Razor IMU
125
PlayStation 3 Controller 50
Cables, Wires, Connectors, Solder
TBD
100
Travel to Michigan
700
Sensors
Total:
1525

9. Project Schedule

10. Questions and Comments