1. S.A.R.D.I.N.E Presented by: Ben Barenz Submersible Autonamous Remote Data & Imaging Nautical Explorer

2. S.A.R.D.I.N.E Submersible Robot  Capable of sensing multiple environmental parameters  Image processing  Communication with a base station and/or with other robots The robot may work in a team with other robots to accomplish a common goal.

3. Features Stepper Motor Drive D/C Servo Steering Pneumatic Controlled Ascent and Descent Automatic Hull Pressure Control Active Balance System (ABS) White or Infrared LED Lighting Series/Parallel Switchable 12V Cells Interchangeable External Port CMUcam2 CMOS Camera Custom 530nm Communication System

4. Sensor Network Storage Tank, Hull, and External Pressure Water Present in Forward and Aft Sections External and Internal Temperature Inclinometer ABS Slug Travel Sensor IR Feedback from Stepper Motors Ultra-sonic Ranging

5. Sectional Overview The robot’s sub-systems are divided into 3 sections:  Forward  Center  Aft

6. Forward Control Section ATmega 2560 Microcontroller  Transceiver Interface  Inter-processor Communication Hub  Sensor Analyzer ATtiny24  Active Balance Controller CMUcam2 SX52 Microcontroller  CMOS Camera Controller  Servo Control Sensors  Pressure, Temperature, Incline

7. Center Section Pneumatic Controls  Ascent and Descent  Hull Pressurization Ballast Tank  Variable Mass Unit Storage Tank  Compressed Air Storage Active Balance System  Balance Stabilization and Pitch Control

8. Center Pneumatic Section Storage Tank  Pressure Sensor Ascent and Descent Solenoids Hull Pressure Management  Solenoid and Check Valve Ballast Tank Active Balance System

9. Pneumatics Diagram

10. Aft Drive Section Battery Pack  Two Series/Parallel Switchable 12V Cells Magnetically Coupled Driving System  D/C Servo Steering  ATmega24 Controlled Stepper Motor Drive Sensors  Water Sensing  Speed Sensor

11. Testing Field testing was performed on the robot numerous time in the bath tub, a horse tank, and the university swimming pool.

12. Testing

13. Theoretical Applications Search Detection and Recognition  Searching for a drowning victim or murder weapon Salvage / Artifact Recovery  Recent disasters, Historic shipwrecks, etc. Reconnaissance / Exploration  Oceanographic exploration, coral reef analysis

14. Wireless Sensor Network 2-Tier Wireless Sensor Network  Tier 1: High Frequency RF  Tier 2: Low Frequency

15. Wireless Sensor Networks Homogenous Network  A,B,C are given the same task with the same resources Heterogeneous Network  A,B,C are given the same task with different resources A CB A B C

16. Questions