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

2. Background Autonomous underwater vehicles are becoming popular in many applications, including oil exploration, and marine studies. Autonomous underwater vehicles are becoming popular in many applications, including oil exploration, and marine studies. Underwater vehicles are also used to check the hulls of large ships for homeland security, and maintenance. Ryan

3. Mission Statement Design an Autonomous Underwater Vehicle that is stable and can operate at depths up to 30 feet. The AUV has to be able to optically locate five target bins and drop a payload in each bin. After making the deposit, the AUV must navigate to an acoustically marked recovery zone and surface between a set of marker buoys Ryan

4. Solution Hull constructed from PVC tubing Hull constructed from PVC tubing Three electric motor driven propellers for propulsion and steering Three electric motor driven propellers for propulsion and steering Linear leveling system for stability control Linear leveling system for stability control Water pressure used for depth sensing Water pressure used for depth sensing Optical and acoustic sensing for target detection Optical and acoustic sensing for target detection Use HC08 microcontrollers for subsystem control Use HC08 microcontrollers for subsystem control Ryan

5. External System Overview Emeric

6. Internal System Overview Side View Emeric

7. Internal System Overview Top View Emeric

8. Hull Testing Torque = 20 ft lbsTorque = 20 ft lbs Depth = 3.5 ftDepth = 3.5 ft Time Submerged = 15 minTime Submerged = 15 min No Leaks! Emeric

9. Hydrodynamic Drag Forces (Fd) Fd = Cd x ρ x Ap x [(V^2 / 2)] Where: Cd = Coefficient of drag p = Density of Seawater Ap = Projected drag area V = Velocity of drag surface Total Hydrodynamic Drag Force = 84.9 N or 187.1 lbm/s^2 Emeric

10. Propulsion Minimum Requirements: Torque 1.012 ft lbs Torque 1.012 ft lbs Power 0.114 hp Power 0.114 hp Thrust 1.3 lbsThrust 1.3 lbs Motor Selected: Graupner Speed 400 6 Volts 6 Volts Thrust x2 = 1.32 lbs Thrust x2 = 1.32 lbs Ryan

11. 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 Ryan

12. Freescale MPX4250AP Ported Pressure Sensor Ryan

13. Pressure Sensor Test The results of this test show that the MPX4250AP will work for our application and provide enough resolution with a 1.5 VDC to 4.5 VDC analog output to the HC08. The results of this test show that the MPX4250AP will work for our application and provide enough resolution with a 1.5 VDC to 4.5 VDC analog output to the HC08. Bryan

14. Electrical Overview `` HC08 Motor Controller Motor Controller Motor Controller 12 volt battery Opto- Isolator Opto- Isolator Opto- Isolator 6 volt battery Stability Control System Depth Control Subsystem Navigation Control Subsystem Stability Control Subsystem Ryan

15. Depth Control System Pressure Sensor Depth Motor Driver HC08 Motor Water Sensor Opto- Isolator Ryan

16. Navigation System HC08 Optical Sensor1 Optical Sensor2 Optical Sensor3 Motor Controller Motor Controller Motor Opto- Isolator Opto- Isolator Ryan

17. Software Overview Depth Control depth equal to 30? Ascend Start Surface Water Present in hull? No Yes No depth Greater than 30? descend Yes No Yes SET_DEPTH: SEI ; LDAA M1_CTRL BPL SD_M1_DIVE ; BCLR PORTT,%00000001 NEGA ; BRA SD_M1_CONT SD_M1_DIVE: BSET PORTT,%00000001 SD_M1_CONT: TSTA ; BNE SD_M1_SETFULL INCA SD_M1_SETSPEED: LDAB #PWM_STEP ; MUL STD M1_PWM_DCYCLE ; ; --- LDAA M2_CTRL BPL SD_M2_FORW ;must be negative BSET PORTT,%00000100 ;( NEGA BRA SD_M2_CONT SD_M2_FORW: BCLR PORTT,%00000100 ;( SD_M2_CONT: TSTA BNE SD_M2_SETSPEED INCA SD_M2_SETSPEED: LDAB #PWM_STEP MUL STD M2_PWM_DCYCLE CLI ; Ryan

18. Leveling System Design The leveling system operates by redistributing weight in the hull of the vehicle. The mechanical design consist of a motor coupled to a lead screw with a weigh threaded onto it. The motor can be commanded to turn clockwise or counter clockwise to move the mass up and down the hull as needed. This is the only leveling system that is needed because the hull is designed in a way that most of the weight is at the bottom of the vehicle to stabilize it in the other direction. Dale

19. Leveling System Control Circuit The electrical design consists of a potentiometer with a pendulum on it to sense the angle of tilt the AUV is at. This signal is than input into two comparators to determine if the weight should be moved, and if so what direction. Dale

20. Sonar Overview The sonar receiver operates by containing an array of three sonar sensors spaced 30 degrees apart. Each of the detectors will output independent signals into a microcontroller that will than decide what direction to steer the vehicle to point it towards the sonar transmitter. The sonar receiver operates by containing an array of three sonar sensors spaced 30 degrees apart. Each of the detectors will output independent signals into a microcontroller that will than decide what direction to steer the vehicle to point it towards the sonar transmitter. Dale

21. Budget SectionItemPrice Hull PVC$100.00 Threaded Rod$30.00 Misc. Hardware$10.00 Gasket material$8.00 Power Systems Batteries$60 Motors$90.00 Motor Drivers$45 Microcontrollers$10 Sensors Pressure sensor circuit$10.00 Optical sensor circuit$10.00 Sonar reciver circuit$8.00 SectionItemPrice Leveling System Threaded rod$8.00 Motor$12.00 Misc. Hardware$10.00 Controll Circuit$15.00 Misc. Sealed Drive Shafts X3$60 Glue & Silicon$5.00 Total$491.00 Dale

22. Schedule Bryan

23. Questions?