MSU ROV Team

Mid-Semester Review

Senior Design 2

October 8, 2013

Team Members

Justin GilmerComputer

Engineering

Arduino Programming Circuit DesignWeb Design

Robbie LundineComputer

Engineering

Arduino ProgrammingCircuit DesignWeb Design

Mark McConnellElectrical

Engineering

Team LeaderPic ProgrammingCircuit Design Mechanical Design / Construction

Chance SistrunkElectrical

Engineering

Pic ProgrammingCircuit Design Mechanical Design / Construction

Faculty Advisor

Jane MoorheadProfessor

Overview• Competition Overview• Technical Constraints• PCB• Manipulator Arm• Packaging

Competition Overview• Course layout

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Competition Overview• Mission 1 Part 1

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Competition Overview• Mission 1 Part 2

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Competition Overview• Mission 2

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Competition Overview• Mission 3

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Competition Overview• Mission 4

Operators Station

BIA

Thermal Vent

Floating Array

StationaryArray

Technical ConstraintsName Description

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

ManipulatorArm

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• Populating the PCB

Manipulator Arm90 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

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

Manipulator Arm

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 - Interface• USB Connected

– Compatibility • Easy Setup

– Open source camera software– Xbox Controller

References[1] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu, 2010. Print (used for the physical design of the Rov)

[2] Observer 3.1. (2013, Feb 7). [Online]. Available: http://www.allboatsavenue.com/mini-robot-sous-marin-observer-3-1-de-subsea-tech

[3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: http://www.marinetech.org/about/

[4] Arduino. [Online]. Available: www.arduino.cc

[5] Circuits At Home. [Online]. Available: www.circuitsathome.com

[6] Sparkfun. [Online]. Available: www.sparkfun.com

MSU ROV Team

Mid Semester Presentation

Senior Design 1

February 21, 2013