Mid-Semester Review Senior Design 2 October 8, 2013
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MSU ROV Team
Mid-Semester Review
Senior Design 2
October 8, 2013
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Team Members
Justin GilmerComputer
Engineering
Arduino Programming Circuit DesignWeb Design
Robbie LundineComputer
Engineering
Arduino ProgrammingCircuit DesignWeb Design
Mark McConnellElectrical
Engineering
Team LeaderPic ProgrammingCircuit Design Mechanical Design / Construction
Chance SistrunkElectrical
Engineering
Pic ProgrammingCircuit Design Mechanical Design / Construction
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Faculty Advisor
Jane MoorheadProfessor
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Overview• Competition Overview• Technical Constraints• PCB• Manipulator Arm• Packaging
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Competition Overview• Course layout
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Competition Overview• Mission 1 Part 1
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Competition Overview• Mission 1 Part 2
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Competition Overview• Mission 2
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Competition Overview• Mission 3
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Competition Overview• Mission 4
Operators Station
BIA
Thermal Vent
Floating Array
StationaryArray
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Technical ConstraintsName Description
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
ManipulatorArm
The ROV must have a manipulator arm capable of lifting 2 Newtons
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Operating Depth• Sank pressure canister to approximately 3.2
meters
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Operating Power• MATE current limit is 25A• With all components in operation, total
current draw was less than 13A
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Maneuverability
• Front and rear vertical motors work independently of one another
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Maneuverability
• Horizontal motors work independently to allow for a tighter turning radius.
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Video Capability• Camera 1 gives view of end of arm
1
3 meters
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Video Capability• Camera 2 gives general view of space under ROV
2
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PCB• Schematic Design
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PCB• Board Layout
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PCB• Component Verification
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PCB• Actual PCB
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PCB• Continuity Testing
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PCB• Populating the PCB
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Manipulator Arm90 degrees of
movement from left to right
The claw will rotate.
The claw will clamp closed and open
again.
Top of ROV
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Manipulator Arm
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Packaging - Housing• PVC Frame
– Light weight and customizable• PVC Pressure Canisters
– Waterproof end cap for easy repairs• Custom Paint Job
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Packaging - Arm• Manipulator Arm
– Custom components– Higher manufacturing cost
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Packaging – Motors• Motor Shrouds
– Maneuver faster – Safety
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Packaging - Interface• USB Connected
– Compatibility • Easy Setup
– Open source camera software– Xbox Controller
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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-tech
[3] Marine Advanced Technology Education (MATE) Center. [Online]. Available: http://www.marinetech.org/about/
[4] Arduino. [Online]. Available: www.arduino.cc
[5] Circuits At Home. [Online]. Available: www.circuitsathome.com
[6] Sparkfun. [Online]. Available: www.sparkfun.com
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MSU ROV Team
Mid Semester Presentation
Senior Design 1
February 21, 2013