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 • Control Unit • Physical Design • Sensors • Problems/Concerns • Budget • Timeline

Objectives • Design working wireless AUV • Collect and send sensor Data ▫ Temperature ▫ Depth • Control of multiple AUVs (4) • Communication between AUVs • Ultimately Formation Control

AUV Signal Flow Submarine Depth Control Microcontroller Central Other Localization PC AUVs Motor SUB Acoustic Waves EM Waves Waterproof Box Remote Control Acoustic Modem Boards RS232 Simple Wire 12V Battery MAX3232 Board PINS: TX, RX UART Temp Sensor PIN: A2 PINS: C2-3 Model Number Digital Potentiometer ADC PINS: C4-7 MCP4261 Depth Sensor ADC AVR Microcontroller SPI PINS: 1-3, 13 Model Number ATxmega128A1 PIN: A1 Digital Potentiometer PINS: D4-7 MCP4261 Camera

Update Microcontroller Break into multiple Slides Control Units • TI OMAP-L137 Microcontroller • Acoustic Modem Controller • Acoustic Modem Array • Submarine Controller

Programing • Movement Control ▫ Control Digital Potentiometers through SPI interface ▫ Write functions for each control channel • Communication ▫ USART interface with MAX3232 chip ▫ Communication with Acoustic Arrays

• pics

Box Zhou’s Blue Board Controller Boards Microcontroller Zhou’s Green Board Batteries

Attaching The Box • Waterproof Duct Tape? • Waterproof Adhesive? • pics

Testing the Box • If ▫ Microcontroller is not fully functional ▫ Then;  Test full prototype as RC Sub • Else ▫ Test as AUV • Testing to make sure fully waterproof, stable, buoyant.

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

Depth Sensor MSP-300 Pressure Transducer*: 9-30V supply, 4-20mA output, stainless steel, ~$120.00. Can measure between Zero and 100 PSI (gauge).

Temperature Sensor TTD25 Temperature Transmitter**: 9-30V supply, 4-20mA output, stainless steel, ~$120.00. Can measure between Zero and 100 °C.

Connection to Microcontroller Analog output is measured across 100 Ω resistor Sent into microprocessor to be converted to digital

Mounting • Both sensors are pipe threaded, which means that they can be directly mounted on the submarine • The cords will go through a hole drilled in the lid of the waterproof casing

Calibrating the Sensors: Depth Lowered to specific depths in a PVC tube filled with water Theoretical output is given by the formula:

Calibrating the Sensors: Temperature Will be placed into a pot on the stove where temperature can be controlled Theoretical output is given by the formula:

Results Only depth sensors have been tested because the temperature sensors have not come in yet Not yet tested on moving submarine Results in PVC tube provided accurate results Depth Sensor Test Results 0.47 0.46 0.45 Output (V) 0.44 0.43 0.42 0.41 0.4 0.39 0 0.5 1 1.5 2 2.5 3 Depth (m)

Problems/Concerns • Movement of AUV’s ▫ Need to test with boxes attached ▫ Drag with additional hardware • Programming ▫ Need to fix code to control potentiometers ▫ Need to fix code for RS-232 communication

Budget • $1000 total • Our Purchases: ▫ $60: Fish Finder ▫ $900: Two water proof housing units ▫ $20: Digital potentiometers ▫ $20: Box Materials (one) • Supplied With:** ▫ Two water proof housing units ($900) ▫ 6 RC Submarines ($600 ea.) ▫ Acoustic Modems ▫ Acoustic Arrays ▫ Depth Sensors x6 ($120 ea.) ▫ Temperature Sensors x6 ($120 ea.) ▫ Microcontroller Board x6 ($40 ea.) **A big thanks to the labs of Prof. Gupta and Prof. Zhou for providing us with additional funding to make this project achievable.

Remaining Timeline March April • Fix code • Finish Coding • Test mobility of submarines • Finalize Testing ▫ Remote Controlled if • Paper Writing necessary • Demonstration Preparation • Begin coding for different functionalities ▫ Send/Receive Commands ▫ Movement patterns

Questions?