1. A.U.V. Emeric Rochford Dale Williams Bryan Douse Ryan Gray

2. Background

3. Mission Statement Design an Autonomous Underwater Vehicle capable of visually locating an array of target bins underwater and depositing a payload into the bins. After making the deposit, the AUV must navigate to an acoustically marked recovery zone and surface between a set of marker buoys

4. Solution Use HC08 microcontrollers Use HC08 microcontrollers Two Motors for proportion and steering Two Motors for proportion and steering One motor to drive the sub down One motor to drive the sub down Linear leveling system Linear leveling system PVC Hull PVC Hull Depth sensing by pressure Depth sensing by pressure

5. External System Overview

6. Side View

7. External System Overview Top View

8. Ballast System Overview Pressure Sensor Pressure Depth Motor Driver HC08 Motor Water Sensor

9. Propulsion

12. Hull Testing

13. Depth Sensing There is a linear relationship between pressure and depth. There is a linear relationship between pressure and depth. The following is the mathematical representation of the relationship: The following is the mathematical representation of the relationship: ΔP = γh ΔP = γh –ΔP  Pressure Difference –γ  Specific Weight of Liquid –h  Change In Elevation

14. Pressure vs. Depth Calculations

15. Freescale Pressure Transducers

16. Depth Control

17. Software Overview

18. Power Systems

19. Leveling System Design

20. Leveling system drawing

21. Leveling System Control Circuit

22. Sonar Receiver Uses NE567 tone decoder Uses NE567 tone decoder 8 pin Dip 8 pin Dip 2 Resistors 1 capacitor for frequency and bandwidth selection. 2 Resistors 1 capacitor for frequency and bandwidth selection. Op amp used to boost signal from receivers to 200mv for NE567 input. Op amp used to boost signal from receivers to 200mv for NE567 input. Three tone Detector circuits at 30 degree angles from each other so direction can be determined by HC08 Microcontroller. Three tone Detector circuits at 30 degree angles from each other so direction can be determined by HC08 Microcontroller.

23. Sonar Overview

24. Schedule

25. Questions?