ee 396/496 scout rov by chris mcleod & autonomous systems lab
Post on 19-Dec-2015
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EE 396/496Scout ROVby Chris McLeod
& Autonomous Systems Lab
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Project Outline
Phase I – Summer 2005
• Design, build, and demonstrate a prototype for a very small Remotely Operated Underwater Vehicle.
Phase II – Fall 2005
• Design and test user interface system for vehicle.Phase III – Spring 2006
• Evaluate and solve prototype design problems and build a comprehensive underwater ROV system.
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Background & Motivation
S.A.U.V.I.M.• Semi - • Autonomous• Underwater• Vehicle for• Intervention • Missions
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Objective of the Scout ROV system
• Easy deployment• Access small enclosures • Low cost
• Assist SAUVIM in connecting to underwater communication and data stations.
• Self inspection of vehicle• Several can be used to simultaneously • Assist in inspection arm manipulation
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Phase I: Flow Chart
CAMERA
ATTITUDE
THRUSTERS
LAPTOPCOMPUTER
MICROPROCESSOR
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Phase I: The Prototype
Off-the-shelf components• Housing• Thrusters• Camera• Somebody’s laptop
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Phase I: Mobility in the x-y plane
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Phase I: DC Motors
• The H-bridge and the L298N• 2 independent bi-directional DC
motors
• Independent 5V supply for motors as well as for logic
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Phase I: Mobility in the z plane
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Phase I: Counterbalance & Housing
• The frame is designed to slide perfectly into housing
Initial construction• Counterbalance
controlled by a 12V stepper motor
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Phase I: Microprocessor
• Rabbit 2300 microprocessor– Receive commands from user (from computer) – Programmed to control DC & Step motor drivers– Uses Dynamic C language in a simple IDE– Requires 5V supply
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Phase I: Stepper Motor Driver
• Stepper motor driver– 1.8o step angle– Current adjustable– Independent 12V supply & 5V for logic
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Phase I: Completed (9/9/05)
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Phase II: User Interface
CAMERA
ATTITUDE
THRUSTERS
LAPTOPCOMPUTER
MICROPROCESSOR
JOYSTICK
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Phase II: Development (4/3/06)
Cross-platform GUI• DevC++ by
Bloodshed• wxWidgets• OpenCV by Intel
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Phase III: Flow Chart
FEEDBACK- Temperature- Compass- Depth- Battery Power- Integrity- Attitude- Pitch
CAMERA
ATTITUDE
THRUSTERS
LAPTOPCOMPUTER
MICROPROCESSOR
JOYSTICK
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Thank you.For more information http://www2.hawaii.edu/~cmcleod/other.htm
Any questions?