Faculty of Engineering Suez Canal University
ADMIRAL ROV SCU team Ismailia
Team members:
Ahmed Abd-Elhalim
Ahmed Jaber
Ahmed Soliman
Amr Shata
Aya Mohamed
Ehab Abd-Allah
Hassan Mahmoud
Karim Gamal
Mahmoud Abd-Elkader
Mahmoud Gamal
Mahmoud Saied
Mahmoud Samy
Mohamed Mahmoud
Mohamed Mohamed
Mohamed Salem
Mentors:
Prof. Dr. Ahmed Magdi
2
Table of Contents
1-Abstract ........................................................................................... 3
2-The Team ........................................................................................ 3
3-(Admiral ROV) ............................................................................... 5
3-1 Rationale ..................................................................................................................................6
3-2 Vehicle Systems: .......................................................................................................................6
3.2.1 Thrusters Control (Appendix 3) .................................................................................................... 6
3.2.2Frame design ................................................................................................................................. 7
3.2.3Thrusters design: ........................................................................................................................... 7
3-3 Electrical System.......................................................................................................................8
3.3.1 Data Transmission (Appendix 1) .................................................................................................. 8
3.3.2 Cameras ....................................................................................................................................... 9
3.3.3 Power (Appendix 2) ...................................................................................................................... 9
3-4 Arm Design: ............................................................................................................................ 10
3-5 Two PC gamepads:.................................................................................................................. 10
3.5.1 Using the JAVA for utilizing the gamepad .................................................................................. 10
3.5.2The gamepad for the body of the ROV ....................................................................................... 11
4-Challengs&Solutions: ................................................................ 13
5- Troubleshooting: ....................................................................... 15
6- Future improvement ................................................................ 15
7-Reflections / Experience .......................................................... 16
8-Lessons Learned ......................................................................... 16
9-references ..................................................................................... 16
10- Acknowledgments .................................................................. 17
11-Appendices ................................................................................. 18
Appendix 1 ................................................................................................................................... 18
Appendix 2 ................................................................................................................................... 19
Appendix 3 ................................................................................................................................... 20
12-photo gallery ............................................................................. 21
3
1-Abstract
Admiral ROV is made of PVC pipes, which are smooth and light in weight. The
stability of the ROV has been taken in account while distributing parts on the ROV, The ROV’s
bouncy can be easily changed by adding or removing air bags at the top.
The five propellers can easily move the ROV in many directions. The waterproofing is
made of PVC pipes containing the item to be isolated. We control each thruster individually
to move the ROV. The arm is made of “Meccano” parts. It has many degrees of freedom to
easily grab and hold things.
“A remotely operated vehicle (ROV): is a tethered underwater vehicle. They are common
in deepwater industries such as offshore hydrocarbon extraction. An ROV may sometimes be
called a remotely operated underwater vehicle to distinguish it from remote control vehicles
operating on land or in the air. ROVs are unoccupied, highly maneuverable and operated by a
person aboard a vessel. They are linked to the ship by a tether (sometimes referred to as an
umbilical cable), a group of cables that carry electrical power, video and data signals back and
forth between the operator and the vehicle. High power applications will often use hydraulics
in addition to electrical cabling. Most ROVs are equipped with at least a video camera and
lights. Additional equipment is commonly added to expand the vehicle’s capabilities. These
may include sonars, magnetometers, a still camera, a manipulator or cutting arm, water
samplers, and instruments that measure water clarity, light penetration and temperature“.
2-The Team
Suez Canal University – faculty of engineering
Electrical Engineering Department
Ahmed Abd-Elhalim Ehab Abd-Allah Karim Gamal
4
Mahmoud Saied Mohamed Mahmoud Mohamed Mohamed
Communications and Electronics Engineering Department
Ahmed Jaber Ahmed Soliman Amr Shata
Aya mohamed Mahmoud Abd-Elkader Mohamed Salem
Mechanical Power Engineering Department
Hassan Mahmoud Mahmoud Samy
5
Computer and Control Department
Mahmoud Gamal
3-(Admiral ROV)
Holding pictures of ROV with 3-D and real photos
3-D Isometric Real Isometric
Front photo Side photo
6
3-1 Rationale
Engineering projects must have budgets, deadlines and specific client needs,
and as this was our first participation in mate competition.
We had focused on certain goals while building ADMIRAL ROV, which were:
Moving the ROV in many directions.
Making an arm that can grab and move things easily.
An easy control of the ROV.
Using recycled and re-used items as possible as we can.
Our individual missions were:
Task #1: Survey the shipwreck site
Task #2: Removing fuel oil from the shipwreck
3-2 Vehicle Systems:
3.2.1 Thrusters Control (Appendix 3)
While designing our ROV, we thought of two methods of control according to
what will be sent to the ROV. We called them Direction control and Individual motor
control. We believed that we have to change the speed and the direction of each
thruster while controlling the ROV, so we decided to go for an intelligent micro-
controller.
Methods of control:
1-Direction control method:
In this method we had planned to send directions to the ROV, so we control
more than one motor at a time to get the desired direction. Imagine that you have a
PS2 Controller in your hand, and you are playing an interesting but easy video game.
When you press the up arrow or move the analog stick forward, the ROV should
move forward and so on. We were very excited about this method because; it will
ease the control of the ROV during the competition.
7
2-Individual motor control method:
In this method we just send the speed and the direction of each motor form
the control room to the controller on the ROV, This method is very close to the way a
pilot drives a helicopter, In summary we control each motor individually.
3.2.2Frame design
We have made the frame design simple as possible as we can, we used re-
cycled PVC pipes, the frame specifications are shown in the table below:
Property Length Width Height Weight Value 65 cm 40 cm 35 cm 20 Kg
The drag force of a unit length of a ¾“PVC pipe is (30.64 Newton) for the given
density, we made the drag force in a function of velocity where (F=30.64 V^2), then
the power was (P=30.64 V^3) as shown.
The relation between Power and Velocity Frame Design
3.2.3Thrusters design:
We used five thrusters to control the ROV movement, the one with the
highest torque is used to move the ROV in the vertical direction ; upwards and
downwards , the other four thrusters are used to move the ROV in the other
directions.
8
Each thruster consists of waterproofing, propellers, bearing, and of course the motor.
Motors:
The biggest motor power is about (10 watts) to rotate the
vertical propeller with high torque.
The other four DC motors are about (6 watts) for moving the
ROV with smooth and easy steps.
All the propellers are made of plastic and have four blades each of
diameter (10cm), with (20mm) pitch and the motor torque gives it
high efficiency.
3.2.4 Waterproofing:
We cut the dimensions of PVC pipe accurately, and used a strong glue
to hold the parts together and then waterproofed it by silicon to
prevent any water leakage to the PVC. These steps were made to
waterproof the motors and the cameras.
3-3 Electrical System
3.3.1 Data Transmission (Appendix 1)
In case of data transmission; we tried to find a way to transmit data for large
distance with minimum amount of losses, at first we tried the normal UART system
for serial RS232 system but it has too errors for distance above 20 meter so we tried
another technique, we used RS422 line which has many advantages over the normal
serial of RS232 like:
Physical Media Twisted Pair
Network Topology Point-to-point, Multi-dropped
One of the small DC
motors
The small
propellers
Motor waterproofing
Camera waterproofing
9
Maximum Devices 10 (1 driver & 10 receivers)
Maximum Distance 1200 meters (4000 ft)
Mode of Operation Differential
Maximum Baud Rate 100 Kbit/s - 10 Mbit/s
But before using RS422; at first we used RS485 , but we faced many
problems as it’s half duplex serial connection and that of course what made us think
about full duplex , one which led us finally to choose RS422.
3.3.2 Cameras
We used two IP cameras to be easily interfaced to the computer ; one in the
bottom and one in the front side of the ROV ,the camera has IR technology which
gives it a good visibility in dark places.
As for IP camera we used CAT5 cable to connect it to the control room easily.
The IP camera
3.3.3 Power (Appendix 2)
We used liner regulators to step down from dc to dc voltage.
Problem faced us during that was that motors operates at high power ratting ( high
current ) ,the regulators didn’t afford so; we modified them by adding tip 2955 (
transistors ) with bigger ampere rang to work as a current buffer , also we added
several stages in parallel to minimize power loss in form off heat .
10
3-4 Arm Design:
All the arm materials except the motors were all donated, it’s made of a children
construction game, and we designed it with four degree of freedoms to facilitate our
missions.
It will be used to move the corals.
It’s controlled by a PC gamepad.
3-5 Two PC gamepads:
The two gamepads, the first is used to control the body of the ROV and the other
is used to control the arm.
3.5.1 Using the JAVA for utilizing the gamepad
(JXInput - Input Devices for Java)
As long as JXInput is used in a
way that it just uses common Java
features (see KeyboardDevice
/VirtualDevice), JXInput is a 100%
pure Java library, but for Java does
not support joysticks in a portable
fashion, the binding to physical
devices has to be done in a
platform dependent manner. So
system specific libraries come into
play and the 100% pure Java
beauty is gone. This also means
that applications using JXInput
then cannot be simple Applets.
JXInput allows interpreting
each key on the keyboard as interpreted by Swing to be a JXInput button. This gives
another source for about 100 additional buttons, for computer without a physical
joystick attached; JXInput offers the possibility to emulate 'virtual' joystick axes with
The arm without motors
11
help from a set of buttons. So it is very easy to use a 'virtual' joystick by using the e.g.
the cursor keys.
Performance: JXInput uses JNI (Java Native Interface) to access the native
library. JNI is known to be not too fast, so the number of calls has been minimized.
The polling of the devices state is managed by JXInput in a single JNI call.
Another possible performance drain is the allocation and reallocation of objects.
Therefore, after being setup, JXInput does no longer create any objects at all.
3.5.2The gamepad for the body of the ROV
This one controls each of the five DC motors individually, with the ability of
changing its current (amperes & direction), and that facilitate the control of the
speeds of the motors to control the speed of the ROV and the torque of turning.
3.5.3The gamepad for the arm of
This one used in controlling the five stepper motors individually, with the
ability of changing angles and current direction.
The gamepad used to control the ROV
The gamepad used to control the arm
12
3-4 Budget / Expense Sheet
Items Quantity Source Item Cost
Total Costs
Donated/Re-used or New
gears 3 International company
5 15.00 New
Game pad turbo 1 Unlimited office 40 40.00 New 4n25 1 Ram 3 3.00 New 74hc151 1 Ram 3 3.00 New Camera 2 logic 385 770.00 New usb to 422 2 Ram 47.50 95.00 New Max 488 8 Ram 0.25 2.00 New Pot(1k,5k,10k) 2 Ram 6 12.00 New Rpc.2.power.ros2p 4 Ram 5 20.00 New Voltage regulator7805
5 Ram 1.50 7.50 New
Cappf.104 40 Ram 0.25 10.00 New Tip2955 20 Ram 4 80.00 New Lm317t 20 Ram 2 40.00 New Ph9.1*40 round trip 3 Ram 5 15.00 New Propellers 5 Elsafa and
Elmarwa For Heating And Cooling (Cairo)
5 25 New
Small DC Motors 4 El-Alamia Center For Maintaining Printers (Cairo)
25 100 Re-used
Large DC Motor 1 El-Alamia Center For Maintaining Printers
30 30 Re-used
Small Stepper Motors
4 El-Alamia Center For Maintaining Printers
20 80 Re-used
Large Stepper Motor
1 El-Alamia Center For Maintaining Printers
50 50 Re-used
PVC ¾” pipes 5 PVC Center 4.20 21 New PVC 90-Degree Joints
8 PVC Center 1.5 12 New
PVC T-Joints 18 PVC Center 2 36 New Safety Parts For Small Thrusters
4 PVC Center 8.25 33 New
Safety Parts For Large Thruster
------- ------- Donated
13
Isolation various ------- 40 New Arm Parts various ------- ------- Donated Large Pump 1 Unknown 65 65 New Small Pump 1 Unknown 30 30 New Net 1 Unknown 5 5 Re-used Total costs 1639.5 EGP Costs are in EGP.
4-Challengs&Solutions:
Challenge 1 (data transmission)
At first many errors appeared while using RS232. Then errors appeared while
using RS485 as when we transmit data it received in error as its half-duplex and
needed more programming in the (PIC) to deal with such kind of transmission.
The data transmission between (PIC) and (COMPUTER) using RS422 wasn’t
easy as it’s never posted in the internet before, and as RS422 is considered new
transmission technique that there is little information about it.
Challenge 2 (cameras)
Here we faced a problem that the camera wasn’t water proofed so, we had to
use a technique that has been learned from the last workshop of ROV by cutting a
PVC, put the camera in it, and finally close both terminals by glass and another PVC.
Challenge 3 (thruster control)
We had faced some challenges in the control, but the biggest one was to decide
which method to use to control the ROV! It’s a matter of compensation between the
ease of control and the ease of the electronics design.
The problem is, in the Direction control method if the ROV went to a wrong
direction due to the water resistance and the shape of the ROV or due to the
difference in the strength of the thrusters, we can’t correct its position. So we
thought of using an Accelerometer.
And of course due to time and financial issues, we decided to start with the Individual
motor control method at this stage, and use the other method in the next developing
stage for our ROV.
14
Another challenge was the features of the available micro-controllers in the
market; we have 5 thrusters in ROV, so we need a micro-controller that has (5 PWM)
modules which is not available in the common micro-controllers.
A solution was to use more than one micro-controller which will make a
problem while developing the ROV later and a problem to send the data to more than
one micro-controller simultaneously, So we thought of another solution which was :
Generating discrete levels of PWM using Logic gates.
Multiplexing these levels to each motor.
Connecting the control inputs of the multiplexer to the micro-controller
By this way we can control the speed of all the thrusters by using one micro-
controller.
The last challenge was that we found that the efficiency of our thrusters was
decreased when we run it in the reverse direction, and we have to change the control
circuits to be in one direction only.
Challenge 4 (frame design)
The resistance against the ROV while moving was too large.
We didn’t find a cross or edged joints in our city.
The front weight on the ROV was too high due to presence of the arm.
So:
We used a small a cross sectional area, and a streamlined item.
We put a big air bag on the side of high weighted items on the ROV.
Challenge 5 (thrusters)
The motors of the thrusters weren’t waterproofed.
We didn’t find a 3-bladed propeller.
Bearing was so expensive.
So:
We decided to waterproof it by PVC pipes.
After calculation, we bought a 4-bladed propeller that gave approximately the
required torque.
We used a used-bearing from a blender.
15
Challenge 6 (direction)
The challenges in the directions were while using the five thrusters to move
the ROV in all axes (positive & negative), but the controllers would be so hard and
difficult.
So;
We controlled each motor of the five thrusters alone instead, that made it easier in
controlling but less efficient than using the five thrusters together.
5- Troubleshooting:
Definition: Troubleshooting is a form of problem solving. It is the systematic search
for the source of a problem so that it can be solved.
Troubleshooting is often a process of elimination - eliminating potential causes of a
problem.
Problem
What went wrong?
1-While running the thrusters in air it went hot.
2-The transistors got too hot in air.
6- Future improvement
Power supply
Changing linear mode power supply to switching mode power supply using
MOSFETs, We already started it but the only hindrance we are facing is controlling
the circuit to drive the gate of the MOSFET.
Data transmission
Using optical fiber instead of RS422 which will enable us to extent the distance
in single mode to 1,050 meter with very high rates.
16
Cameras
Using high resolution camera with higher efficiency and upload the video on
the same optical fiber used for data transmission.
Thruster’s control
We will switch to the direction control, instead of motor control and use an
accelerometer as a feedback element.
Robotic arm
It will be improved by increasing the degree of freedoms, controlled by an
identical arm at the shore side to get better accuracy.
7-Reflections / Experience
Teamwork is the best way to get the job done, Keep it simple, never give up
and keep trying.
The team members are from different departments, each department learned
from the other some information, and one of the most important things is how
to turn what is written on papers into working things.
8-Lessons Learned
Team work improvement skills. (1.5 amp. Linear regulator ) can hold much more current using a transistor in
a special connection, where the regulator itself doesn’t carry any current ,it
only adjust the output voltage while the transistor carry all the load current.
9-references
http://www.homebuiltrovs.com/
http://www.materover.org/
http://www.marinetech.org/
http://wikipedia.org/
The Art of electronics, by Paul Horowitz and Winfield Hill.
17
10- Acknowledgments
Dr/Ahmed Magdy
Supervisor, mentor and the most supportive person.
Mr./Mohamed Ramadan
The expert technician, he had changed our written papers to real materials.
Eng/Mohamed Yousef
Technical support and help us using labs.
Dr/ Yasser Hawwas , Eng/Eiad & Eng/Basem
They helped the power supply group for getting information.
Dr/Tamer Ismail
Who helped us in making the view of the report.
Suez Canal University
Sponsorship, It had provided us with a place to work in it.
18
11-Appendices
Appendix 1
Data transmission schematic
As shown; we first use USB to RS485/422 converter then to the cable we used
CAT5E cable, and we received the signal using Maxim 488E transceiver, This
transceiver converts the serial signal into a RS-422 twisted pair signal, which is
connected to the tether, The transceiver is a full duplex chip meaning that it
transmits and receives simultaneously.
19
Appendix 2
Power schematic
R1
240
C10.1uF
VI3
VO2
AD
J1
U1LM317K
R4240
R12
240
C70.1uF
VI3
VO2
AD
J1
U4LM317K
R5240
R6
240
C90.1uF
VI3
VO2
AD
J1
U5LM317K
R7240
R11
240
C130.1uF
VI3
VO2
AD
J1
U7LM317K
R10240
R24700
Q2TIP2955
Q1TIP2955
R34700
R134700
R154700
Q3TIP2955
Q5TIP2955
R18
240
C180.1uF
VI3
VO2
AD
J1
U15LM317K
R19240
R40
240
C150.1uF
VI3
VO2
AD
J1
U14LM317K
R17240
R204700
R164700
Q15TIP2955
Q14TIP2955
R24
240
C220.1uF
VI3
VO2
AD
J1
U17LM317K
R26240
R21
240
C200.1uF
VI3
VO2
AD
J1
U16LM317K
R23240
R254700
R224700
Q17TIP2955
Q16TIP2955
R30
240
C250.1uF
VI3
VO2
AD
J1
U19LM317K
R31240
R27
240
C230.1uF
VI3
VO2
AD
J1
U18LM317K
R29240
R324700
R284700
Q19TIP2955
Q18TIP2955
R36
240
C290.1uF
VI3
VO2
AD
J1
U21LM317K
R38240
R33
240
C270.1uF
VI3
VO2
AD
J1
U20LM317K
R35240
R374700
R344700
Q21TIP2955
Q20TIP2955
Motors Supply
R44
240
C420.1uF
VI3
VO2
AD
J1
U41LM317K
R43240
R41
240
C410.1uF
VI3
VO2
AD
J1
U40LM317K
R42240
Q41TIP2955
Q40TIP2955
Sensor Supply
R53
240
C530.1uF
VI3
VO2
AD
J1
U51LM317K
R55240
R50
240
C500.1uF
VI3
VO2
AD
J1
U50LM317K
R51240
Q51TIP2955
Q50TIP2955
VI1
VO3
GN
D2
U27805
VI1
VO3
GN
D2
U37805
Microcontroller Supply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
su
pply
R82000
R92000
R142000
R392000
R45
51
R46
51
R47
51
R48
51
1
2
J1
TBLOCK-M2
1
2
J2
TBLOCK-M2
1
2
J3
TBLOCK-M2
1
2
J4
TBLOCK-M2
1
2
J5
TBLOCK-M2
1
2
J6
TBLOCK-M2
1
2
J7
TBLOCK-M2
1 2
J8TBLOCK-M2
20
Appendix 3
Thrusters control schematic
21
12-photo gallery
Top Related