1. Mid-Semester Review Senior Design 2 October 8, 2013
MSU ROV Team
Mid-Semester
Review
Senior Design 2
October 8, 2013

2. Team Members Arduino Programming Circuit Design Web Design
Robbie Lundine
Computer
Engineering
Arduino Programming
Circuit Design
Web Design
Mark McConnell
Electrical Engineering
Team Leader
Pic Programming
Circuit Design
Mechanical Design / Construction
Chance Sistrunk
Electrical Engineering
Pic Programming
Circuit Design
Mechanical Design
/ Construction
Justin Gilmer
Computer Engineering
Arduino Programming
Circuit Design
Web Design
Mark

3. Faculty Advisor
Jane Moorhead
Professor
Mark

4. Overview Competition Overview Technical Constraints PCB
Manipulator Arm
Packaging
Mark

5. Competition Overview Course layout Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

6. Competition Overview Mission 1 Part 1 Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

7. Competition Overview Mission 1 Part 2 Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

8. Competition Overview Mission 2 Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

9. Competition Overview Mission 3 Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

10. Competition Overview Mission 4 Operators Station Floating Array
Thermal
Vent
Mark
BIA
Stationary
Array

11. Technical Constraints
Name
Description
Operating
Depth
The ROV Must Operate at depths up to 3.2 meters
Power
The ROV must operate from a 12.7V +/- 0.3V voltage source and draw less than 25 amps of current
Maneuverability
The ROV must maneuver effectively enough to make it competitive
Video
Capability
The ROV must have a minimum of one camera with a 3 meter range to allow it to compete effectively
Manipulator
Arm
The ROV must have a manipulator arm capable of lifting 2 Newtons

12. Operating Depth
Sank pressure canister to approximately 3.2 meters

13. Operating Power MATE current limit is 25A
With all components in operation, total current draw was less than 13A

14. Maneuverability
Front and rear vertical motors work independently of one another

15. Maneuverability
Horizontal motors work independently to allow for a tighter turning radius.

16. Video Capability
Camera 1 gives view of end of arm 1
3 meters

17. Video Capability
Camera 2 gives general view of space under ROV 2

18. PCB
Schematic Design
Mark

19. PCB
Board Layout
Mark

20. PCB
Component Verification
Mark

21. PCB
Actual PCB
Mark

22. PCB
Continuity Testing
Mark

23. PCB
Populating the PCB
Mark

24. Manipulator Arm Top of ROV The claw will clamp closed and open again.
rotate.
90 degrees of movement from left to right
Top of ROV

25. Manipulator Arm

26. Manipulator Arm

27. Manipulator Arm

28. Manipulator Arm

29. Manipulator Arm

30. Manipulator Arm

31. Manipulator Arm

32. Manipulator Arm

33. Manipulator Arm

34. Manipulator Arm

35. Manipulator Arm

36. Manipulator Arm

37. Manipulator Arm

38. Manipulator Arm

39. Packaging - Housing PVC Frame PVC Pressure Canisters Custom Paint Job
Light weight and customizable
PVC Pressure Canisters
Waterproof end cap for easy repairs
Custom Paint Job
Justin
PVC: lightweight, customizable, cheap, naturally buoyant, hide extra weight,
Pressure canister: large enough to house electronics/pcb , water proof (silicon/rtv wires so non-removable), clear lens for camera for both canisters (secondary is adjustable), end cap,

40. Packaging - Arm Manipulator Arm Custom components
Higher manufacturing cost
Justin
Included with ROV (non-detachable), custom built using 3D printing, molds must be made in manufacturing which will raise cost, now the ROV isn’t built with only off the shelf parts which adds complexity to our design making it harder for competitors to replicate our product

41. Packaging – Motors Motor Shrouds Maneuver faster Safety Justin
Change from last semester's design: remove mesh and implement shrouds, force dissipated -> instead shrouds focuses water down to a more direct/concentrated stream. Giving us a greater push. Must have vents for water to flow through. Also the mesh was used for safety from objects in the water and protection for users. Shrouds still provide these advantages.

42. Packaging - Interface USB Connected Easy Setup Compatibility
Open source camera software
Xbox Controller
Justin
Interfacing with ROV is a very easy set up. USB works with any PC, just need the camera software which can be downloaded online. Plug in power to a car battery. Then it is ready to go. Xbox controller included with manual on the controller button layout.

43. References
[1] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu, Print (used for the physical design of the Rov) [2] Observer 3.1. (2013, Feb 7). [Online]. Available: [3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: [4] Arduino. [Online]. Available: [5] Circuits At Home. [Online]. Available: [6] Sparkfun. [Online]. Available:

44. Mid Semester Presentation Senior Design 1 February 21, 2013
MSU ROV Team
Mid Semester
Presentation
Senior Design 1
February 21, 2013