1. MSU SeaMATE ROV Explorer Class
Final Presentation
Senior Design I
Cameron
[1]

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

3. overview Competition Overview Design Constraints System Overview
Subsystem Testing
Future Goals
Cameron

4. What is Mate & The 2013 Explorer class?
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
Cameron
[2]

5. Technical constraints
Name
Description
Operating Power
The MSU SeaMATE ROV must operate at /- 0.3VDC 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.
Cameron

6. Practical constraints
Type
Name
Description
Health/Safety
Safety
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.
Cameron
[2]

7. Health/Safety Measures of safety taken into consideration:
40A fuse on tether REQUIRED
40A circuit breaker on power supply
8A and 30A fuses on input and output of DC-DC Converter, respectively
Cody

8. environmental 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
Cody
[3]

9. System overview
Cody

10. Power Supply & DC-DC Converter
The MSU SeaMATE ROV must operate at /- 0.3VDC with a maximum current draw of 40A.
Power Supply
8 12V/7.0Ah Lead-Acid batteries
DC-DC Converter
Murata HPH-12/30-D48NB-C
Cody

11. Distance measurement system
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.
UNI-T UT390B Laser
Range: 0.05m – 45m
Accuracy: +/- 2mm
Modified to operate using Xbox 360 controller
Serial communication with Arduino
Jonathan

12. Distance measurement system
Actual Depth (m)
Laser Distance(m)
Ratio
0.940
1.42
1.51
1.14
1.63
1.43
1.29
1.86
2.03
1.91
2.65
1.40
2.13
2.94
1.37
Jonathan
Measurement test through water
Average ratio of between air and water measurements
Divide the laser measurement by this ratio to get actual distance
Produces the required accuracy of +/- 10cm

13. Manipulator arm Sparkfun Robot Claw MKII
The MSU SeaMATE ROV must be able to pick up and maneuver a 10 Newton payload.
Sparkfun Robot Claw MKII
Paired with Sparkfun Micro Servo
Jonathan

14. Manipulator arm
10 Newton Payload Test Using Spring Scale
Jonathan

15. Video system Three Kinobo USB cameras provide multiple viewing angles
The MSU SeaMATE ROV must have at least one camera with a range of 3m or greater.
Three Kinobo USB cameras provide multiple viewing angles
Laptop displays all three video feeds simultaneously using ManyCam software
Jonathan

16. Video system Camera Viewing Range Test
Constraints require a 3m minimum viewing range
Range of video display was measured using tape
Objects clearly visible at distances greater than 6m
Jonathan
245 in
(6.22 m)

17. Tether 3 USB repeater cables (20m) Power and Ground cables (>20m)
The MSU SeaMATE ROV must send information from the vehicle to the controller and laptop via a tether with a minimum length of 18m.
3 USB repeater cables (20m)
3 Cameras through USB hub
Xbox controller
Arduino Microcontroller
Power and Ground cables (>20m)
16 AWG Marine Grade Wire
Jonathan

18. TRANSMISSOMETER Serial communication test
Prove digital serial communication exists between PIC24H ADC and laptop controller through USB
“2.”
“9”
“8”
“6”
“\r\n”
Michael

19. TRANSMISSOMETER Light Receiver test/MATLAB results
Test analog voltage outputs in low and bright light conditions
MATLAB results display change in received light over 5 minute time period
Michael

20. System test
Michael

21. Future goals Needed: Suggested Improvements:
Construct enclosures for main electronics, cameras, and distance sensor
Waterproof all enclosures, cables, and cable connections
Design and implement PCBs
Suggested Improvements:
Add temperature sensor in main enclosure
Add servo to increase visibility of camera
Add propeller shrouds
Michael

22. references
[1] Rendering of ROV. September 28, Available:
[2] “Underwater Robotics Competitions,” September 2, Available:
[3] Picture depicting Buoyancy. September 29, Available:
Michael

23. MSU SeaMATE ROV Explorer Class
Final Presentation
Senior Design I
Michael
[1]