Underwater Mobile Networks Senior Design Team 171: Michael Daukas - PowerPoint PPT Presentation

Underwater Mobile Networks Senior Design Team 171: Michael Daukas (EE) Joseph Folz (EE) Connor Burns (EE) Advisors: Dr. Shengli Zhou Dr. Shalabh Gupta

Outline • Project Objectives • Physical Design • Control Unit • Sensors • Budget • Status

Objectives • Design and implement wireless AUV • Can receive basic commands • Move without instruction • Collect and transmit sensor data ▫ Temperature ▫ Depth ▫ Video

Physical Design Overview • Attach waterproof housing to the top of the vehicle • Need to attach weight to the bottom of box to balance the buoyancy of the housing • Waterproof connectors bring cables in and out of the housing ▫ Acoustic Array ▫ Sensors

Waterproof Housing Design Acoustic Modem Board 1 Controller Boards Microcontroller Acoustic Modem Board 2 Batteries

Interior Waterproof Housing Design • Board Spacing Adjustable • Center of wood boards cutout for easy passing of wires • 4 PCB Boards to be powered by two batteries

Attaching The Housing • Water Resistant Duct Tape • Tape can follow all of the contours of the vehicle • Eliminates need to drill into housing or AUV

AUV Signal Flow Submarine Depth Control Microcontroller Central Other Localization PC AUVs Motor SUB Acoustic Waves EM Waves Remote Control Acoustic Modem Boards RS232 Waterproof Housing 11.1V Battery Simple Wire MAX3232 Board PINS: TX, RX UART PIN: A0 Temp Sensor PINS: F6-7 TTD25 Digital Potentiometer ADC PINS: C4-7 MCP4261 Depth Sensor ADC AVR Microcontroller SPI PINS: 1-3, 13 MSP-300 ATxmega128A1 PIN: A1 Digital Potentiometer PINS: D4-7 MCP4261 Camera GoPro HERO3

Microcontroller • ATxmega128A1 • Development Board • RS-232 Module • Many Pins that can support more functionality in the future

Acoustic Modem • Communicates with microcontroller via RS-232.

Remote Control Boards • Joysticks replaced by Digital Potentiometers • Sends Wireless Signals to AUV

Programming • Movement Control ▫ Control Digital Potentiometers through SPI interface ▫ Write functions for each control channel • Communication ▫ UART interface with MAX3232 chip ▫ Communication with Acoustic Arrays • Sensor Data ▫ Analog to Digital conversion collects output voltage from sensor ▫ Voltage is converted to usable data through code

Sensors • Depth Sensor ▫ Measures pressure of water ▫ Pressure changes output voltage ▫ Voltage is converted to a depth reading • Temperature sensor ▫ Thermistor has a resistance for each degree of temperature ▫ Voltage is converted to a temperature reading • Camera ▫ Record Video for later viewing

Depth Sensor • MSP-300 Pressure Transducer • 9-30V supply • 0-100mV output • stainless steel • 0 to 100 PSI (gauge)

Temperature Sensor • TTD25 Temperature Transmitter • 9-30V supply • 0-100mV output • stainless steel • 0 to 100 °C

Connection to Microcontroller • Output of sensor is attached to Analog Input of Microcontroller

Camera • GoPro Hero3 • Records up to 6 hours of video.

Mounting • Sensors are attached to outside of the housing • The wires go through a waterproof connector drilled into the lid of the waterproof box. • Camera uses an adhesive mounting device on the front of the AUV

Budget **A big thanks to the labs of Prof. Gupta and Prof. Zhou for providing us with funding and parts to make this project achievable.

Status • Physical Design ▫ Buoyancy – Added Weight • Control System ▫ Digital Potentiometers ▫ RS-232 • Sensors ▫ Test Code with RS-232

Questions?