1. EE 396/496 Scout ROV by Chris McLeod & Autonomous Systems Lab

2. Background S.A.U.V.I.M. Semi - Autonomous Underwater Vehicle for Intervention Missions

3. Objective of the Scout ROV Object identification Arm manipulation Connect to underwater communication and data stations. Self inspection

4. Project Outline Phase I – Summer 2005 Design, build, and demonstrate a prototype for a very small Remotely Operated Underwater Vehicle. Phase II – Fall 2005 Design and test user interface system for vehicle. Phase III – Spring 2006 Evaluate and solve prototype design problems and build a comprehensive underwater ROV system.

5. Phase I: Prototype Demonstrate feasibility Smallest design possible Inexpensive components Low power consumption Visual and sensor capabilities

6. Phase I: Flow Chart CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR

7. Phase I: The Prototype Off-the-shelf components Housing Thrusters Camera Somebody’s laptop

8. Phase I: Mobility in the x-y plane

9. Phase I: DC Motors The H-bridge and the L298N 2 independent bi-directional DC motors Independent 5V supply for motors as well as for logic

10. Phase I: Mobility in the z plane

11. Phase I: Counterbalance & Housing The frame is designed to slide perfectly into housing Initial construction Counterbalance controlled by a 12V stepper motor

12. Phase I: Microprocessor Rabbit 2300 microprocessor –Receive commands from user (from computer) –Programmed to control DC & Step motor drivers –Uses Dynamic C language in a simple IDE –Requires 5V supply

13. Phase I: Stepper Motor Driver Stepper motor driver –1.8 o step angle –Current adjustable –Independent 12V supply & 5V for logic

14. Phase I: Umbilical Transmit power Transmit/Receive data

15. Phase I: Completed (9/9/05)

16. Phase I: Problems Counterbalance Umbilical Size/Mass

17. Phase II: User Interface Video display Sensory data Basic operational information –Depth –Pitch –Attitude Adapted user control

18. Phase II: User Interface CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

19. Phase II: Software Cross-platform GUI DevC++ by Bloodshed wxWidgets OpenCV by Intel

20. Phase III: Revision and Integration FEEDBACK - Temperature - Compass - Depth - Battery Power - Integrity - Attitude - Pitch CAMERA ATTITUDE THRUSTERS LAPTOP COMPUTER MICROPROCESSOR JOYSTICK

21. Phase III: Revision Counterbalance

22. Phase III: Revision

23. Umbilical – 3 problems –emf from power –cable limitations 24 – 22 AWG vs 18 – 16 AWG –Mass/Size

24. Project Outlook & Timeline

25. Thank you. For more information http://www2.hawaii.edu/~cmcleod/other.htm Any questions?