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

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

3.  Competition Overview  Design Constraints  System Overview  Enclosure Design  Waterproofing Techniques  PCB Design  Future Goals OVERVIEW

4.  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]

5. NameDescription Operating Power The MSU SeaMATE ROV must operate at 50.8 +/- 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

6. 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]

7. 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 [3]

8.  Propeller shrouds prevent injury and damage to operators and the environment HEALTH/SAFETY

9.  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 [4]

10. SYSTEM OVERVIEW

11.  Five enclosures, three PCBs are required ENCLOSURE DESIGN Main Enclosure PCB #1 Main Enclosure PCB #1 Camera Enclosure Camera and Distance Meter Enclosure PCB #2 Camera and Distance Meter Enclosure PCB #2 Camera Enclosure Transmissometer Enclosure PCB # 3 Transmissometer Enclosure PCB # 3

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

13.  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 CAMERA ENCLOSURES

14. 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

15. 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

16. Camera Enclosure Initial Testing  Enclosure was sealed using silicon and submerged overnight; it leaked badly  To discover the location of the leak, the enclosure was filled with colored water  Results: the 3D material itself is not waterproof WATERPROOFING TECHNIQUES

17. Methods tested to seal the 3D printed material:  Plasti Dip  Multi-purpose rubber coating  Four coats were applied to the camera enclosure  Overnight submersion test was unsuccessful  Acetone  Melts outer layers together to form a solid surface  Alters part dimensions if excessive amount is applied  Polyurethane sealant  Three coats were applied to the camera enclosure  Submerged to 9 feet for thirty minutes; test unsuccessful WATERPROOFING TECHNIQUES

18. CONNECTOR TESTING Connector Testing  Liquid tight restraint was installed in the wall of the main enclosure  Enclosure was submerged at a depth of 9 feet for one hour  Results: the connector allowed wires to pass through the enclosure, while ensuring a watertight seal

19.  3 Boards are needed for the ROV  CadSoft EAGLE PCB Design Software was used to create the boards  Current Stage: PCBs have been sent for review and ordering PCB DESIGN

20. 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

21. 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

22. 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

23.  Needed:  Construct enclosures for main electronics, cameras, and distance sensor  Waterproof all enclosures, cables, and cable connections  Receive and populate PCBs  Construct competition course  Film ROV completing competition tasks  Suggested Improvements:  Add servo to increase visibility of camera  Add propeller shrouds FUTURE GOALS

24.  [1] Rendering of ROV. September 28, 2013. Available: http://sketchup.google.com/3dwarehouse/details?mid=9f7fc 1470de5d00efe6f757657d676c4 http://sketchup.google.com/3dwarehouse/details?mid=9f7fc 1470de5d00efe6f757657d676c4  [2] “Underwater Robotics Competitions,” September 2, 2013. Available: http://www.marinetech.org/rov-competition-2/-http://www.marinetech.org/rov-competition-2/-  [3] Picture of Sealcon Fittings. February 16, 2014. Available: http://www.automationnews.info/ http://www.automationnews.info/  [4] Picture depicting Buoyancy. September 29, 2013. Available: http://www.scubadivingfanclub.com/I_swam.htmlhttp://www.scubadivingfanclub.com/I_swam.html REFERENCES

25. Midsemester Presentation Senior Design II MSU SeaMATE ROV Explorer Class [1]