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 Microcontroller Acoustic Modem Board 2 Controller Boards 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

Depth Sensor MSP-300 AVR Microcontroller ATxmega128A1 Motor Localization Central PC Other AUVs Depth Control Acoustic Modem Submarine Microcontroller Digital Potentiometer MCP4261 Remote Control Boards

RS232 Simple Wire EM Waves SUB Acoustic Waves ADC SPI Waterproof Housing

11.1V Battery Digital Potentiometer MCP4261

PINS: C4-7 PINS: D4-7 PINS: 1-3, 13 PIN: A1

MAX3232 Board

PINS: F6-7 PINS: TX, RX UART

Camera GoPro HERO3 Temp Sensor TTD25

ADC PIN: A0

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
• f 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?