Final Presentation Senior Design II MSU SeaMATE ROV Explorer Class [1]

Cameron Brown Computer Engineer Cody Veteto Electrical Engineer TEAM MEMBERS Michael Acosta Electrical Engineer Jonathan Ware Electrical Engineer Jane Moorhead Team Advisor

 Competition Overview  Design Constraints  Packaging  PCBs  Competition Replication  Competition Results  Bill of Materials OVERVIEW

 Marine Advanced Technology Education (MATE)  Remotely Operated Vehicle (ROV) competition  Top level of competition  Mission tasks involve:  Equipment installation, repair, and replacement  Design and installation of a transmissometer  Removal of biofouling WHAT IS MATE & THE 2013 EXPLORER CLASS? [2]

NameDescription Operating Power The MSU SeaMATE ROV must operate at /- 0.3V DC with a maximum current draw of 40A. Distance Sensor The MSU SeaMATE ROV must be able to read the distance of certain objects in the competition course with an accuracy of 10cm or greater. Payload Capacity The MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload. Video Capability The MSU SeaMATE ROV must have at least one camera with a range of 3m or greater. Tethered Communication The MSU SeaMATE ROV must send information from the vehicle to the controller and laptop via a tether with a minimum length of 18m. TECHNICAL CONSTRAINTS

TypeNameDescription Health/SafetySafety The MSU SeaMATE ROV is designed to keep the users safe. Environmental Environment Preservation The MSU SeaMATE ROV design takes into account the surroundings of its operating environment. PRACTICAL CONSTRAINTS [2]

Measures Taken To Ensure Electrical Safety  Circuit breaker on surface power supply  Four fuses throughout the system  Waterproof electrical connections between system enclosures HEALTH/SAFETY

 Area of operation: Swimming Pool  ROV is designed to not damage the mission props or environment in any way  ROV is designed to have slightly more than neutral buoyancy  ROV will float to surface for easy retrieval in event of control system malfunction ENVIRONMENTAL

PACKAGING

Integra Main Enclosure 12VDC Busbar Pololu Motor Drivers (4) ADXL335 Accelerometer USB Hub Arduino Mega 2560 Murata DC-DC Converter PCB #1

 Camera Enclosures  Two custom designed enclosures created using Autodesk Inventor software and the 3D printer  One mounted on front, viewing downward at an angle to provide depth perception  One in the back mounted on a servo, provides viewing of the manipulator claw and objects behind the ROV  Mounting hole allows for easy connection to PVC frame PACKAGING

 Camera and Distance Meter Enclosure  One custom designed enclosure created using Autodesk Inventor software and the 3D printer  Web cam and distance meter are viewing parallel to competition floor at the front of the ROV  Mounting hole allows for easy connection to PVC frame

PACKAGING  Transmissometer Enclosure  One custom designed enclosure created using AutoCAD 2014 software and the 3D printer  Two openings facing each other for pathway between light source and photo resistor  Clearance for placement over competition wheel

Main Enclosure  Dimensions: 3”x3”  Voltage regulators and support components  Power rails with larger track widths for Arduino, motor drivers, and servos  Extra headers allow for future expansion  Accelerometer for stability control  Temperature sensor for thermal monitoring PCB DESIGN

Distance Meter  Dimensions: 2”x2”  Voltage regulator to supply distance meter with power  Ribbon cable connector and transistors to control distance meters input buttons  Board designed so that voltage regulator may lay flat on board

PCB DESIGN Transmissometer  Dimensions: 3”x1.5”  PIC24H centered in board  Board designed so that voltage regulator may lay flat on board  Fuse, pushbutton, and LED in place for safety  Pin header connections for light source and photoresistor

 A 15 minute time limit is given to complete 4 tasks:  Task #1: Complete a primary node and install a secondary node on the seafloor  Task #2: Design, construct, and install a transmissometer to measure turbidity over time  Task #3: Replace an Acoustic Doppler Current Profiler (ADCP) on a water column mooring platform  Task #4: Locate and remove biofouling from structures and instruments within the observatory COMPETITION REPLICATION

 Operating Power  The competition was completed using a power supply of two series of four 12VDC batteries placed in parallel  The supply created a voltage of 50.7VDC and the ROV operated completely from this supply COMPETITION REPLICATION

 Distance Sensor  The distance sensor was required to measure the distance from the center of a location to the back wall of the Backbone Interface Assembly (BIA)  The actual measurement for the center of the destination was 1.067m (42”) COMPETITION REPLICATION #Value Margin of Error 11.09m (42.76”)2.16% 21.06m (41.80”)0.66%

 Payload Capacity  Multiple payloads were moved for tasks 1, 2, and 3 that measured up to 10 Newtons and all were maneuvered by the ROV COMPETITION REPLICATION

 Video Capability COMPETITION REPLICATION

 Tethered Communication  Three 20m(64’) USB repeater cables and two 70’ power cables combined for the tether COMPETITION REPLICATION

 Time: 14:30.70/15:00.00  Task #1 Point Value: 35/120  Task #2 Point Value: 75/75  Task #3 Point Value: 50/80  Task #4 Point Value: 25/25  Total Point Value: 185/300 COMPETITION RESULTS

RankingSchool Mission Score 1Sea Tech 4H Jesuit High School Memorial University Copiah-Lincoln Community College Linn-Benton Community College The Hong Kong University of Science and Technology Mississippi State University Far Eastern Federal University Bauman Moscow State Technical University Long Beach City College125.0 COMPETITION RESULTS

BILL OF MATERIALS

 [1] Rendering of ROV. September 28, Available: de5d00efe6f757657d676c de5d00efe6f757657d676c4  [2] “Underwater Robotics Competitions,” September 2, Available: REFERENCES

Final Presentation Senior Design II MSU SeaMATE ROV Explorer Class [1]