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Underwater Crawler

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Tammy Liaw

on 4 January 2013

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Transcript of Underwater Crawler

the story of the underwater crawler On the Road to Convenience The (Hypothetical) Final Product obtained source code from Brian Burney Basic Atom Microcontroller The Goals The Robot Underwater Control of Robot
Preservation of Camera Dry Test
- back left wheel was stuck
- obtained grease from Professor Janet

Wet Test
- performed in pool at Brodie Gym

Data Sheets & Specifications
- difficult to find because the crawler is custom-made Getting Familiar System Layout Joystick Trade Study Joystick Trade Study Details ADIN P4, RightDTM

IF RightDTM < 300 THEN
RightDTM = 60
ELSEIF ((RightDTM > 300) AND (RIGHTDTM < 700))
RightDTM = 127
ELSEIF RightDTM > 700
RightDTM = 185
endif

ADIN P5, LeftDTM

IF LeftDTM < 300 THEN
LeftDTM = 60
ELSEIF ((LeftDTM > 300) AND (LeftDTM < 700))
LeftDTM = 127
ELSEIF LeftDTM > 700
LeftDTM = 185
endif Programming the Atom Chip Assembly Soldered CAT6 Cables to Joystick Wires

Adjusted Potentiometers

Applied Urethane to Joystick Problems Basic Atom 40 chip blew out

Disconnected Cable
- too much wire movement; reached failure point

Urethane
- applied too early
- hardened before potentiometer voltages were configured Lessons Learned Research abilities
Knowledge about robotic control and operation
Hands-on skills (soldering, etc)
Programming with Basic Atom

Things to improve:
Order backup supplies
Use a different kind of urethane: more viscous and foamy Approach Gantt Chart The Supplies Overall Costs Switches Joystick Levers Pros:
Easy to implement and waterproof
Cons:
Tedious combinational control Pros:
Intuitive interface
Analog signal for speed
Cons:
Difficult to waterproof
Pros:
Intuitive Interface
Cons:
Multiple mount points
Similar to joystick SENDDATA:

IF (((LEFTDTM < 120) OR (LEFTDTM > 140))OR((RightDTM < 120) OR (RightDTM > 140))) THEN
;HSEROUT ["NB",LEFTDTM,Rightdtm,vramPOT,PANVAL,TILTVAL,CAMVAL]
SEROUT S_OUT, I9600, ["NB ",DEC LEFTDTM," ",DEC Rightdtm," ",DEC vramPOT," ",DEC PANVAL," ",DEC TILTVAL,13]
SEROUT ssc, n9600, [syncb, DTML, LEFTDTM]
SEROUT ssc, n9600, [syncb, DTMR, RightDTM]
SEROUT ssc, n9600, [syncb, VRAM, VRAMPOT]
ELSE
SEROUT S_OUT, I9600, ["NB ",127," ",127," ",DEC vramPOT," ",DEC PANVAL," ",DEC TILTVAL,13]
SEROUT ssc, n9600, [syncb, DTML, 127]
SEROUT ssc, n9600, [syncb, DTMR, 127]
SEROUT ssc, n9600, [syncb, VRAM, VRAMPOT]
ENDIF 60/185 60/60 60/127 127/127 127/60 127/185 185/127 185/185 185/60 drawings created by Professor Janet
joystick created by Bill Knighton The Customized Joystick Test Trials Camera

Basic Atom 40 Chip Item Cost (including shipping) Total Cost BasicAtom Pro Universal Development Board
Liquid Urethane $71.52
$66.00 Addition of depth sensor

Mounting the control console onto the robot Future Work Choosing a Joystick SENDDATA:
IF (((LEFTDTM < 120) OR (LEFTDTM > 140))OR((RightDTM < 120) OR (RightDTM > 140))) THEN
SEROUT ssc, n9600, [syncb, DTML, LEFTDTM]
SEROUT ssc, n9600, [syncb, DTMR, RightDTM]
SEROUT ssc, n9600, [syncb, VRAM, VRAMPOT] ELSE
SEROUT ssc, n9600, [syncb, DTML, 127]
SEROUT ssc, n9600, [syncb, DTMR, 127]
SEROUT ssc, n9600, [syncb, VRAM, VRAMPOT]
ENDIF Gets input data Sends motor signal - Liquid Urethane
- a mold that hardens into a rubber-like consistency
- prevents water from entering the joystick

- CAT6 Cable
- connects to joystick

- Basic Atom 40 Kit $137.52 Underwater crawler with the ability to be controlled by diver instead of from the surface
Ability to relay visual data back to the surface
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