1. Redesign of a Submersible Autonomous Data Collection and Transmission System (S.A.D.C.A.T.S.) Group Members: Matthew Rhoads BS ME (Project Leader) Matthew Rhoads BS ME (Project Leader) Matthew DeHaven BS ME Matthew DeHaven BS ME John Robinson BS ME John Robinson BS ME Daniel Rubin BS ME Daniel Rubin BS ME Matthew Buchwald BS/MS EE Matthew Buchwald BS/MS EE Matthew Stith BS EE Matthew Stith BS EESponsor: Dr. Robert Kremens, Senior Research Scientist Chester F. Carlson Center for Imaging Science Faculty mentor: Dr. Wayne Walter, Mechanical Engineering Dept., Kate Gleason College of Engineering

2. Overview of Presentation Client Needs Design Solutions Mechanical Drawings Explanation of mechanical systems Microcontroller Block Diagram Electrical Schematics Explanation of electrical systems Status and Outlook

3. Client Needs A vessel that is capable of collecting temperature profiles and other sensory data underwater A provision for horizontal locomotion A vessel that is lighter and less cumbersome to deploy than the first generation vessel, perhaps light enough to be hand deployed Retain GPS position awareness of first generation vessel

4. A submersible

5. Critical Aspects of Design Hull Built to withstand pressure to at least 30 meters (100 feet) Ballast system Enables vessel to dive, take depth profiles of sensor data, and resurface safely Propulsion system Provides locomotion and directional control Navigation system GPS and Microcontroller programming allows vessel to travel to coordinate and take data at points 100m apart Radio link Transmits location to allow user to recover vessel Transmits collected data to base station at RIT

6. Vessel Hull Improvements in size and weight of the overall vessel compared to first generation Space-efficient packaging of components Need for non-metallic materials due to inherent properties of GPS Target external pressure of 4 atmospheres Ease of access to internal components

7. Ballast System Increase in control during diving Integration into main body of vessel Capability to influence vessel attitude Removal of need for external medium Additional areas of weight reduction

8. Design Solutions Modular Hull Design Provision for ease of access Future expansion possible Streamlined Profile Integration of ballast system within the hull Use of a pressurized air chamber to control ballasting media flow Bosch Fuel Pump for Fill with N/C ¼ Solenoid Valve

9. Propulsion System Two three-blade propellers will be used to navigate through the water. Instead of a rudder, the propellers will vary in speed to change direction. The propellers will be powered by two motors outputting between 6 oz-in and 10 oz-in of torque. This torque is calculated for a speed of 2 knots.

10. Stability Control The submersible vessel has been designed to have a low center of gravity. Component layout is such that the center of gravity is transversely and longitudinally in the center.

11. Component Mounting System Allow for ease of removal Design for versatility Light Weight

12. ATmega128 Microcontroller Capabilities – Floating Point operation – 53 I/O pins – Pulse-Width Modulation for motors and pump – 8 channel, 10-bit Analog to Digital Converters for Temperature and Pressure data collection – Two hardware serial interfaces used for GPS module and Radio link Programming – Bascom-AVR Compiler allows simple programming in the BASIC language

14. ATmega128 Microcontroller Code – Initialization Phase – Waypoint Determination Phase – Waypoint Seek Phase – Dive Phase – Rise/Data Collection Phase – Data Transmission Phase Additional – Batteries monitored at all times – Will switch solenoid valve to backup for emergency resurfacing

15. Sensors Analog Connection – Pressure Sensor 0 to 100 psia – Temperature Sensor Scaled to read 0° to 32 °C Serial Connection – Color Sensor Red, green, blue, and white light intensities – Turbidity/Conductivity Sensor Turbidity: 0 to 4000 NTU Conductivity:.0001 to 15 mSiemens

16. Power Electronics Board Schottky Diodes – Prevent cell-to-cell discharging problems between cells of paralleled packs.475V maximum forward voltage 95% worst-case efficiency >98% nominal efficiency Power FETs – Provide power switching for electromechanical devices Low R ds (.077Ω) 95% worst-case efficiency >98% nominal efficiency

17. 12V Battery System Heavy Pack – 60 4/3A-size Nickel-Metal Hydride cells – 300 Watt-hours capacity – Powers motors, pump, and solenoid valve – Designed to provide 16 hour mission length Communications Pack – 10 AA-size Nickel-Metal Hydride cells – 20 Watt-hour capacity – Powers microcontroller, sensors, GPS and radio – Designed to provide 24 hour communication life

18. Communications Garmin GPS35 GPS module – Absolute accuracy 15 meters, higher relative accuracy Chipcon CC1000 modem/radio transceiver – Adjustable output up to 10 mW – 440MHz Amateur Radio frequency band Mitsubishi power amplifier module – Up to 10W output Ramsey RFS-1 RF-sensed T-R relay kit – Allows Power Amplifier Module to be switched inline with the antenna during transmit ¼ Wave, single-element antenna

19. Cost B.O.M. to Date: $796.11 Not included: Motors, Propellers, ABS block, Plexiglas block Electrical costs covered by client

20. Status and Outlook Unresolved Mechanical Issues Propeller and Motor Selection Component Mounting System Unresolved Electrical Issues Power Switch Recharging Control System Parameters Waypoint Determination

21. Status and Outlook Fabrication of In-house Parts Obtainment of Externally Sourced Items Assembly Phase for Mechanical Facets Microcontroller board fabricated by FSI systems Electrical Sensors will be tested and then calibrated if needed Simulation of the system will be developed