Submersible StabilizationEdward Polk II

ET 494Advisor: Dr. Cris

IntroductionSubmersibles are underwater machines with many applications including deep sea exploration and repairing critical underwater systems like the oil pipeline in the Deepwater Horizon spill. Handling such machines is a difficult task requiring several operators to operate a sophisticated control scheme.

Autonomous stabilization would drastically reduce the workload for operating team and the magnitude of control station .

ObjectivesDesign a miniaturized submersible.Use its thrusters to counteract the effect of

drift or turbulent currents and remain stationary.

Develop an adaptive control algorithm to perform this task autonomously.

Primary ComponentsArduino Mega 2560PVC pipeArduino GY-521 MPU-6050 Module 3 axial

gyroscope accelerometer stance tilt moduleAmico 1500 -10000RPM 3-12V High Torque

DC Motors with Propeller L293 Quadruple Half-H Drivers

Previously Accomplished MilestonesResearch possible materials for project and

select ones that are suitable for the submersible.

Find an effective way to waterproof the motors.

Construct and test the circuit with the motors, then the MPU-6050 module.

Construct the current design model ,develop a sample Arduino program to test the submersible in water.

Present a working model that will be the basis of the next iteration of Senior Design.

Finished Submersible

Spring MilestonesConduct more tests to ensure that the frame is

waterproof and will remain that way and that the motors are powerful enough to overcome the forces applied to it.

Conduct research for neural networks. Design a program that records the displacement

values taken by the gyroscope and stores the data on the Arduino Mega.

This data will be analyzed by the neural network allowing the device to learn to stabilize itself.

Prepare the final demonstration and deliver it to Dr. Cris.