Project Group Members:Matthew Buchwald MS/BS EEMatthew Rhoads BS MEJohn Robinson BS MEDaniel Rubin BS MEMatthew Stith BS EE

Project Sponsor:Dr. Robert KremensSenior Research ScientistChester F. Carlson Center for Imaging ScienceCollege of ScienceRochester Institute of Technology

Team Mentor:Dr. Wayne WalterProfessor George Slack

Product Description While significant resources have been allocated to research of the

offshore regions within the Atlantic and Pacific Oceans; the quantity of data available from shallow lake research pales in comparison to the oceanic data available. Currently, data collection is carried out in a labor intensive manual fashion, often times via a bucket method, where specimens must be transported back to dry land for analysis. This tends to lead to issues of data inaccuracy resultant from contamination during transport and the variation of environment between eco-system and laboratory. Thus it was proposed that an autonomous system be developed to aid in the acquisition and transmission of relevant data from the point of origin back to a base station for distribution and analysis. The prototype is to be a second generation offspring of the model produced during work conducted in the year prior. The model also is to be designed so as to not loose any of the functionality provided by the previous design.

Von Mises Stress Due to 165 (Expected +30)psi Internal Ballast System Load

Electrical System Block Diagram

Bill Of Materials

Description Cost

Plumbing Hardware $ 127.23

General Hardware $ 16.52

Metal Stock $ 64.00

Plastic Stock $ 102.40

Machined Hemisphere $ 425.00

Machined Frustum $ 350.00

Bosch Fuel Pump $ 154.11

Solenoid Valve $ 34.38

Propellers $ 39.50

Drills (2) $ 40.00

Thrust bearings $ 28.44

Electrical Components $ 882.50

Gaskets and Sealants $ 38.56

Total Cost $2,302.64

Programming was performed using the BASCOM - AVR BASIC compiler. Program flow proceeds through an initialization phase before entering into the main loop. The main program loop consists of subroutines that navigate the vessel to waypoints, dive to the desired depth, and then rise to collect data. Data is then transmitted after the vessel reaches the surface.

The completed electrical assembly on the component mounting rack

Performance SpecificationsAmong with the design objectives, there are a number of specific performance specifications that the team attempted to meet.

•Dive Depth: The maximum dive depth of the vessel is to be 100ft •Horizontal Speed: The vehicle is to achieve a surface speed of at least one knot.•Target Mission Length: 16 Hours (Daytime Deployable)•Tracking Range: Data points can be taken from 30km outside Rochester

Matt Stith and Matt Buchwald test the interface between the

controller and the power electronics board.

Matt Rhoads fabricates hull sections with threads

to allow hull to screw together.

John Robinson wrestles with the component rack.

Dan Rubin reattaches the back end of one of the motor tubes. Alignment of propeller shaft was critical to the function of the propulsion system.

A front view of the final design.

A side view of the final design

The motor housings of the propulsion system.

Special ThanksAurora MachineJason FaulringDave HathawaySteve KosciolRobert LetiziaMary Ann Robinson

The Electrical System has two battery packs, a 300Wh pack for the Propulsion Motors, Dive Pump, and the Resurfacing Solenoid Valve, and a 20Wh pack that runs the Microcontroller, GPS, Radio, and Sensors. The Power Electronics Board allows control of the high-current devices, and provides power regulation for the 64-pin 8-bit Atmel microcontroller and the 5-watt radio transceiver. The temperature sensor measures from 0-30C, the color sensor measures intensities in Red, Green, Blue, and White, and the pressure sensor has a range of 0-100psi.

Design Team 34