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

Depth Sensor Model Number 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 Box

12V Battery Digital Potentiometer MCP4261

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

MAX3232 Board

PINS: C2-3 PINS: TX, RX UART

Camera Temp Sensor Model Number

ADC PIN: A2

Control Units

• TI OMAP-L137 Microcontroller
• Acoustic Modem Controller
• Acoustic Modem Array
• Submarine Controller

Update Microcontroller Break into multiple Slides

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 Microcontroller Zhou’s Green Board Controller Boards 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 100Ω 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
• f 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

0.39 0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.5 1 1.5 2 2.5 3 Output (V) Depth (m)

Depth Sensor Test Results

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
• Test mobility of submarines

▫ Remote Controlled if necessary

• Begin coding for different

functionalities ▫ Send/Receive Commands ▫ Movement patterns

• Finish Coding
• Finalize Testing
• Paper Writing
• Demonstration Preparation

Questions?