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MIT ROV TEAM

MIT ROV TEAM. Michelle Aquing, Heather Brundage, Lauren Cooney, Bridget Downey, Eddie Huo, Albert Kwon, Harry Lichter, M. Jordan Stanway, Kurt Stiehl, ThaddeusStefanov- Wagner, Daniel Walker. Goals. Build a highly maneuverable vehicle capable of operating in confined spaces at depth.

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MIT ROV TEAM

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  1. MIT ROV TEAM Michelle Aquing, Heather Brundage, Lauren Cooney, Bridget Downey, Eddie Huo, Albert Kwon, Harry Lichter, M. Jordan Stanway, Kurt Stiehl, ThaddeusStefanov-Wagner, Daniel Walker

  2. Goals • Build a highly maneuverable vehicle capable of operating in confined spaces at depth. • Small size (~ 1 foot cube) • Small tether • Able to complete mission tasks: • Re-establish the communications link to the science package • Retrieve data probes located within a drawer on the science package. • Collect a sample of red fluid from the crevice. • Measure the temperature of the venting fluid.

  3. Power Supply • Limited to 12v 25A onboard supply. • Use 10 1.2v, 20Ah size “M” NiMH cells.

  4. Battery Packs • Split into two waterproof Otter boxes • Each box has a 30A slow blow fuse

  5. Task #1 & #2 – Communication Link Reconnection and Probe Retrieval

  6. Task #3 – Fluid Collection • Windshield washer pump • Small internal volume • Little initial dilution • Bag collection system • no change in buoyancy • little pumping resistance • passive dummy/sample separation

  7. Task #4 – Temperature Measurement • RTD - resistance temperature detector • Wheatstone bridge and amplifier circuit • The range of our sensor is -7˚ to 61˚ C

  8. Switching Video System • 4 color cameras with LED lights • 2 channels of video up fiber tether • 2 computer playback cards for portability • 1 switching board underwater

  9. Schematic

  10. Video System Advantages • Choose any two cameras • Small in size • Not need additional expensive displays

  11. Tether • Single strand, single-mode fiber optic cable • 500 meter passive spooler on ROV • 2 video lines and RS-232

  12. Pressure (depth) Sensor • Membrane/strain-gauge type sensor • Measures differential pressure • Allows operation at higher absolute pressures (greater depths) with a more affordable sensor • Ours measures 0-206 kPa (0-30 PSI) • Provides useful readings to 20 m (66 ft) Not required by any mission task, but useful to ROV control and mission performance

  13. Control • 2 Computer system • Topside slave laptop handles user input commands and displays data • Bottomside master microcontroller activates motors, reads sensors

  14. Thrusters • 4 fixed thrusters • 2 150W thrusters: 1 Heave, 1 Surge, • 2 10W Thrusters: for both Sway and Yaw

  15. Thruster Design Bearings Motor Seal Gearbox

  16. Frame and Floatation • 80-20 frame for modularity • Donated structural polyurethane foam

  17. Thank You! • Prizm, Inc • ExxonMobil • MIT Edgerton Center • MIT Center for Ocean Engineering • MIT SeaGrant • MIT Ocean Engineering Teaching Lab • MIT Edgerton Center Student Shop • Phoenix International

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