1. MSU ROV Team Final Review Senior Design 2 November 19, 2013

2. Team Members Justin Gilmer Computer Engineering 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

3. Faculty Advisor Jane Moorhead Professor

4. Overview Competition Overview Technical Constraints PCB Manipulator Arm Packaging

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

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

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

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

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

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

11. Technical Constraints NameDescription Operating Depth The ROV Must Operate at depths up to 3.2 meters Operating 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

19. PCB Board Layout

20. PCB Component Verification

21. PCB Actual PCB

22. PCB Continuity Testing

23. PCB Fully Populated PCB

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

25. Manipulator Arm

38. Manipulator Arm Video

39. Packaging - Housing PVC Frame – Light weight and customizable PVC Pressure Canisters – Waterproof end cap for easy repairs Custom Paint Job

40. Packaging - Arm Manipulator Arm – Custom components – Higher manufacturing cost

41. Packaging – Motors Motor Shrouds – Maneuver faster – Safety

42. Packaging – Motors

43. Packaging - Interface USB Connected – Compatibility Easy Setup – Open source camera software – Xbox Controller

44. Parts List

47. References [1] S. W. Moore, H. Bohm, and V. Jensen. Underwater Robotics: Science Design & Fabrication. Monterey, Ca: Marine Advanced Technology Edu, 2010. Print (used for the physical design of the Rov) [2] Observer 3.1. (2013, Feb 7). [Online]. Available: http://www.allboatsavenue.com/mini-robot-sous-marin- observer-3-1-de-subsea-techhttp://www.allboatsavenue.com/mini-robot-sous-marin- observer-3-1-de-subsea-tech [3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: http://www.marinetech.org/about/ http://www.marinetech.org/about/ [4] Arduino. [Online]. Available: www.arduino.ccwww.arduino.cc [5] Circuits At Home. [Online]. Available: www.circuitsathome.comwww.circuitsathome.com [6] Sparkfun. [Online]. Available: www.sparkfun.comwww.sparkfun.com

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