[Deprecated]

This project is deprecated. Please see the DD-41 project: https://github.com/captdam/DD-41

DD-40

University of Windsor Electrical and Computer Engineering Undergraduate Capstone Project 2019 - Remotely Operated Underwater Vehicle

About this project

Documents

Operator-soide console

The operator-side console is an interface for the user to control the ROV. The operator-side console not only let the user directly control the ROV, display data and video returned by the ROV; but also allows the user to config the auto pilot function of the ROV.

Mechanical structure A summary of the layout of the operator-side console.

• https://github.com/captdam/DD-40/blob/master/Operator/README-MECH.md
• Power
• Video monitor
• LCD displays
• User input

Electrical circuit The circuit board in the operator-side console.

• https://github.com/captdam/DD-40/blob/master/Operator/README-ELEC.md
• MCU system
• LCD displays
• Matrix input

Control software An abstruction level description of the software in operator-side console controller.

• https://github.com/captdam/DD-40/blob/master/Operator/README-SW.md
• UART for long-distance communication
• LCD display interface
• Input interface

ROV

The ROV is a remotely operated underwater vehicle.

Mechanical structure The design and assembly of structure of the ROV, and the actuator instalation.

• https://github.com/captdam/DD-40/blob/master/ROV/README-MECH.md
• ROV body assembly
• Actuator installation

Electrical circuit The control circuit of the ROV, includes tail hub, main control circuit board and tail hub.

• https://github.com/captdam/DD-40/blob/master/ROV/README-ELEC.md
• Power supply
• MCU systems
• Gyro sensor
• Actuator drivers

Control software An abstruction level description of the software in main controller and the AUX controller.

• https://github.com/captdam/DD-40/blob/master/ROV/README-SW.md
• Two AVR MCUs, ATmega328P
• Main Controller
  • UART for long-distance communication
  • I2C for local communication
  • ADC for analog sensor
• AUX controller
  • I2C for local communication
  • Software PWM

Communication

The ROV system contains two parts, the operator-side console and the ROV itself. During the operation, the user will use the operator-side console to send command to the ROV, such as direction; mean while, the ROV will send back data to the operator-console, including the battery voltage, depth and ect..

To establish a reliable and easy-to-implement communication between the ROV and the operator-side console, a communication sub-system is used in the ROV system. The communication system has 3 layers:

Physical layer Real circuit and cable, Rs-485 like transmitter and receiver.

• https://github.com/captdam/DD-40/blob/master/Communication/README-L1.md
• RS-485 like long-distance voltage-differential transmission
• Electrical schematic

Transport layer Framework software, provides a reliable data transmission. Packet defination.

• https://github.com/captdam/DD-40/blob/master/Communication/README-L2.md
• Package regulation
• Error detection
• Master/slave synch

Application layer Data exchange between the ROV and operator-side console.

• https://github.com/captdam/DD-40/blob/master/Communication/README-L3.md
• MCU data registers map (App SFR)
• Package data structure