2. Page 2 of 18
Acknowledgements:
Notions Oceanus had taken huge efforts to accomplish this ROV. However, it would not have been
possible without the support and help of many individuals and organizations. We would like to
extend our sincere gratefulness to all of them.
We desire to thank the Marine Advanced Technology Education (MATE) for organizing the
competition.
We are highly indebted to Notions Development Academy for the guidance and constant supervision
as well as for the technic and academic help. We are also indebted to Brilliance Language School for
sponsoring us.
Table of figures
Figure
number
Page
Figure1. Steps design process. 3
Figure2. Oceanus ROV “Medusa”. 3
Figure3. Oceanus ROV “Triton”. 3
Figure4. Triton thrusters’arrangement. 3
Figure5. Triton motorsetting. 4
Figure6. Propeller’s design. 4
Figure7. Propellers steering. 4
Figure8. Propellers steering. 4
Figure9. Manipulator sealing. 5
Figure10. Color absorptionchart. 5
Figure11. Lightening housing. 5
Figure12. Insertion of electronics
and camera tilting.
6
Figure13. Camera pan/tilt. 6
Figure14. End cap. 6
Figure15. Front cap,dome front cap and dome. 7
Figure16 Driving station. 7
Figure17 Control can 7
Figure18 Sabertooth2x12. 8
Figure19 Pressure transducer. 8
Figure20 Temperature sensorLM35. 8
Figure21 Current sensor. 8
Figure22 LSM303DLHtriple axis accelerometer combined with
a triple axis magnetic sensor.
8
Figure23 Cable splitter. 9
Figure24 Cable splitter. 9
Figure25 Cable splitter drag. 9
Figure26 Cable splitter drag. 9
Figure27 Task 2: payloadsystem. 10
3. Page 3 of 18
We would like to express our gratitude towards our parents and our special gratitude to Eng. Kareem
Youssri for giving us such attention and time, and teaching us electronics, mechanics and
programming, as well as our mentor Moamen Mohamed who helped us a lot.
Furthermore, we would like to thank Eng. Mamdouh Azmy and Eng. Galal Salama for helping us in
understanding the advanced options of Solid Works, AutoCAD and ANSIS.
Finally, special thanks to Notions’ last year rangers team for sharing their experience with us.
Abstract
Water occupies 71% of Earth surface, and it is considered the largest ecosystem, including
diversity of creatures needing suitable conditions to live just as the purity of water, food sources and
appropriate temperature. As we all know, the safety of ocean and its creatures is related to a variety
of human activities such as food, oil and transportation. Unfortunately, ocean is suffering from many
hazardous phenomena; for example, water pollution, which affects human activities negatively. In
addition to water pollution, ocean endures from over fishing, and a change in its circulation pattern.
As a result Oceanus Co. could not stand without taking serious actions in order to save the under-
water world. Therefore Oceanus Company designed and built a ROV with a wide range of special
features to enhance its performance under-water. Oceanus’ employees’ deep experience is harnessed
to build acrylic housings, efficient arms and hard frames, aiming to provide the customer the
sophisticated service he desires. Apart from high-quality and efficiency; Oceanus staff was aware
that the low cost is an influential factor that must be taken into consideration.
As the staff made the ROV step by step, starting from the frame ending with its programming in C
language, it has been capable of accomplishing all the missions successfully beginning with installing
a professional temperature sensor over the vent opening and ending with removing the biofouling
adequately. Oceanus’ well trained pilot can navigate smoothly under-water using the gamepad which
provides an easy control for the ROV’s body, arms and motors.
ROV: Remotely Operated Vehicle
PVC: Polyvinyl Chloride
1. Design Rationale
The innovation and construction of ROV Oceanus was
completed based on a very organized and technically designed
plan. Throughout the project a five step design process has been
followed by the company as shown in fig.1.
During the stages of developing the ROV, the company was
restricted to a strategically steps in order to reach the final
image. The crew determined what is exactly needed; researched
and developed ideas, and finally concluded to the required
Fig.1: Steps design process.
4. Page 4 of 18
methods. Beforehand the releasing of the ROV, it was tested and the results of the components were
analyzed using several designing software such as Solid Works and Ansys until we reached the ideal
design.
1.1. Frame
Oceanus ROV first design “Medusa” was a pentagon-shaped ROV
made of ½ of PVC was destined for the Egyptian local
competition as shown in fig.2; however, PVC was not ideal for the
frame.
After testing and observing the PVC’s body, the company
concluded that the ROV’s water resistance was too high and it did
not achieve the critical floating as a result of leakage, thus tubes
were drilled causing the filling of PVC frame with water. Since the
robot must move not only its dry mass, but also the mass of the
water in the frame, it caused a significant increase in mass which
dramatically slows down the ROV and the thrust power had to
overcome the increased weight. As a result of the large number of
PVC tubes present in Oceanus ROV, an incoherent in the main
frame has been unfortunately caused.
Oceanus’ second ROV generation was a Dry-Hull system “Triton”
as shown in fig.3. Triton was destined for the MATE ROV
challenge. A dome was put on the top of the ROV to decrease the
water resistance achieving a smooth movement of the ROV. The Acrylic body proved that it is
smaller, lighter, and more efficient than the PVC.
1.2. Thrusters
Triton is pushed by eight Johnson Pump thrust motors
of 1250G/H power and high thrust. Several tests were
carried out on different combinations of motors and
propellers in order to obtain the best thruster [Appendix
A]. In fig.4, the motors arrangement can be identified.
Four thrusters are arranged horizontally and four vertically.
Fig.2: Oceanus ROV “Medusa”
Fig.3: Oceanus ROV “Triton”
Fig.4: Triton thrusters’arrangements
Fig.5: Triton Motor setting
5. Page 5 of 18
Triton has movement about six degrees of freedom as shown in fig.5, four horizontal thrusters are
installed for three translations (surging, heaving and swaying along the longitudinal vertical, and
transverse “lateral” axes respectively) and four vertical thrusters are installed for three rotations
(rolling, yawing, and pitching about these same respective axes).
1.3. Propellers
The propeller on any motor is the means by which the horsepower, developed
by the engine, is converted into thrust to propel of the ROV. Oceanus Company
has cared in its selection to insure continuous service and satisfactory
performance. The selected propellers are harbor’s model 50 mm propellers,
with three blades, which one of them is shown in fig.6 [You may see Appendix
C for more details].
Propellers’ steering can be a real chore with a dual engine power setup. When
the propellers turn in the same direction, the ROV tends to list and steer as
shown in fig.7. Keeping an even keel and true course requires constant
attention, especially in choppy water and high winds. Much of that problem
can be solved by having two propellers turn in opposite directions [2] as
shown in fig.8. In other words, it is a counter-rotation. The major advantage
of counter-rotation is its ability to enhance performance by reducing steering
effort in all RPM ranges.
Most single engine setups normally operate in forward motion using clockwise
rotation of the engine and gear case. Although counterclockwise rotation setups
have been used since the creation of the outboard engine, the usage of counter-
rotation has become more prevalent in the last decade. This increase is largely
due to the manufacturing increase of larger twin engine recreational and performance.
Clockwise rotation propellers, when turned in the same direction, will tend to list or walk to the right
side of the direction they are moving forward in. In fig.8, two effects of clockwise propeller rotation
can be obviously seen. The listing of the propeller to the right, pulling the gear case in the same
direction, and the effect of propeller torque, causes the ROV to roll over to the port side.
So the thrusters are distributed with left & right propellers to provide a stable movement to the ROV.
1.4. Buoyancy
High center of buoyancy and low center of gravity were a primary concern in building up Triton to
give the camera platform maximum stability about the longitudinal and lateral axes and will balance
the body rapidly if any vibrations occur. The thrusters are mounted at the top of the vehicle lateral
alternating with each other to center the gravity, rotation and buoyancy forces. In other words,
instead of having the center of buoyancy and gravity at the sides of the body, they are fixed at the
center top of the ROV.
Fig.6: Propeller’s design
Fig.7: Propellers steering
Fig.8: Propellers steering
6. Page 6 of 18
1.5. Manipulators
The grippers’ manipulator is fixed at the front of the ROV after isolating it from water by a poly-
ethylene case from the front and ending with a hard-chrome which is also drilled to lengthen the axe
in order to increase the suction force of the motor and closing it with an oil seal to prevent the
exposure of water, as shown in Fig.9.
Powerful Pololu motors are fitted with a
75:1 metal gearbox which is made of
steel. In addition, the output shaft in
4mm diameter, stall current of 3.3A,
8.8Kg/cm stalls torque and finally a
RPM of 180. Manipulators are mounted
with the clamber-shaped grippers to accomplish the tasks.
1.6. Lighting
As shown in fig.10, with increasing the water depth, the
ambient light decreases. The strength of the light
absorption also depends on the cleanliness of the water.
Although the camera with IR light were used, with
decreasing brightness the image noise increases too.
To provide adequate lighting, two radiators are mounted
on the ROV. In each radiator a Seoul P7 LED is placed.
These emitters have the following data:
Lumen: 700.
Lumen max: 900.
Current: 300 mA.
Volt: 12.0 V.
Watt: 10.08 W.
Angle: 160 °.
Fig.11 shows the lamp housing with the included
components. At the front, the housing is sealed with
acrylic 10mm. The disc has a thickness of 10mm and
can easily withstand a higher pressure. The LED optic’s
the radiation angle is 35°.
1.7. Technology-insertion
Aiming to achieve perfection, several modifications and checking
were made on the electric board. Unsuccessfully, a difficulty was
faced in pulling the board and un-drilling the wires. As a result of
these difficulties, the interior of Triton was modified hence electronics and camera tilting device are
Fig.9: Manipulator sealing
Fig.12:Insertion
Fig.10: Color absorption chart
Fig.11: Lighting Housing
7. Page 7 of 18
combined into a slot shown in fig.12. Electronics and camera tilting can be completely pulled out of
the tube technique. Therefore, the technique can be easily maintained as required.
1.8. Camera
Triton is equipped with two Super Circuits high resolution, low light (0.5 Lux) pinhole cameras.
Each camera has a 0.85cm color CCD and provides a 90° horizontal field of view in water. One
camera is located in the center of each of the domes. The OPTICS (Onboard PlaneTary Illuminated
Camera System) uses a set of spur gears, powered by a servo motor; to rotate the cameras .It is also
capable of providing a full 180° field of view in the vertical plane. Moreover, the ROV is equipped
with an Inuktun crystal camera high resolution (400 TVL), low light (1.0 Lux), and it has 0.64cm
color CCD camera. It is externally mounted on the chassis, opposite OBS, which provides an
unobstructed view of the tool during mission execution. Oceanus’ enhanced camera lens to a wide
angle lens 164° to give us a fisheye view.
1.9. Panning device
To make the observation of the underwater world freer, a swivel
mechanism of the camera was opted. While navigating Triton with an
analog stick, the camera rotation is performed with a second analog
stick and with the other hand. This allows the navigation and a look
around together by one person. The camera can be rotated
approximately 180 ° / 180 °. The more the analog stick is pushed to
the side, the more the camera turns. If the analog stick versa released
the stick, thus the camera back to the original position 0 ° / 0 ° back.
This has the advantage of being returned quickly for orientation. The
camera in the original position would inform the pilot about how
Triton is oriented in the water. Fig.13 shows the camera navigation system.
For space reasons micro-servos were used. Unfortunately, this still
leads currently an occasional swing to the camera. However, it should
be to get to grips with damping.
1.10. Isolation
The electronics cans are composed of one optically clear acrylic tube.
The tube has an outside diameter of 12cm and is sealed by O-rings
incorporated into 1.5cm end cap; which is shown in fig.14, and 3.0cm
front cap which is shown in fig 15. The cans have been successfully
pressure tested to two bars in the pressure vessel.
Fig.13:Camera pan/tilt
Fig.14:End Cap
8. Page 8 of 18
2. Electronics
The electronics system has four key components: the topside control unit, the tether, the ROV control
can, and the ROV payload control can. [See Appendix A for the electrical schematics of these
components.]
2.1. Driving Station
The topside control unit is based on a laptop.
It allows the pilot and copilot to monitor all the
information needed for improving the driving
capabilities. The station is split into six main
operations, ROV navigation, thruster power control,
safety, lighting control and video feeds. The driving
station communicates with Triton, through two
microcontrollers in the ROV and a laptop in the driving
station, by sending and receiving a series of serialized
packets. Building on previous iterations of this
interface, the video feeds from Triton are directly
interfaced to the driving station's screen and the laptop’s screen.
2.2. ROV Electronic Can
The current control system used represents one of the greatest innovations since Oceanus began
producing ROVs. The first ROV, Medusa, utilized an on/off control system with switch. Although it
presented a certain degree of reliability that is difficult
to replicate with a reliable system, it offered only very
limited maneuverability.
Triton’s electronic can houses all electronics necessary
to the operation of the ROV platform, providing
communications to the surface, control of the thrusters
Fig.15:Frontcap, dome frontcap & Dome
Fig.16:Driving station
Fig.16:Driving Station
Fig.17:Controlcan
9. Page 9 of 18
and reading form sensors.
2.2.1. Thrusters Control
The control system drives the motors and tools. The control system is
adapted to include variable speed for better control of Triton by using
sabertooth 2x12. This variable speed propulsion system is controlled by
Serial communication (USART) signals generated by the motor driver
microcontroller. Motors and tools which do not require variable speed
are also switched on and off by the wet-side microcontroller.
2.2.2. Sensors
2.2.2.1. Pressure
Honeywell pressure sensor is used to measure both water depth and
temperature. It communicates using an ADC and has a measurement
opening that is threaded into a hole in one of the end caps. The transducer
can measure water depth up to 16m “200PSI”. In microcontroller, this
pressure reading is converted into depth, taking into account the
configurable water density and current atmospheric pressure. This
measurement will act as feedback to an auto-depth function featured in the
control system as a future work.
2.2.2.2. Temperature
An integrated circuit LM35 temperature sensor, which is showed in
fig.20 capable of recording temperatures from -40°C to +125°C,
monitors the internal temperature of the electronic can. This allows the
operator to monitor temperature and shutdown or reduce demand on the ROV in the event that
overheating occurs.
2.2.2.3. Current
Pololu current sensor which is indicated in fig.21 is used for over-current
protection and kill switch for emergency stoppage. In Triton’s design
every motor has a current sensor for safety and to be displayed on the
main driving station.
2.2.2.4. Voltages
Voltages are monitored to ensure the output from the onboard power supplies are within an
acceptable range. The voltage is connected to the sensors microcontroller ADC.
Fig.18: Sabertooth 2x12
Fig.20:LM35
Fig.19:Pressure
transducer
Fig.21:Current sensor
10. Page 10 of 18
2.2.2.5. Compass
For operator’s convenience magnetic compass is included in Triton. A
3-axis compass is combined with the orientation sensor; it is also
presented in fig.22. These decisions are made to ensure the reliability
of determining the orientation of Triton.
2.2.2.6. Accelerometer
A Sparckfun 3-axis accelerometer is used as an orientation
sensor for the positioning of the ROV. The accelerometer
sensor provides three separate angle measurements, angular
velocities and linear accelerations in all three axes. Measuring
accuracy is provided by built-in Kalman filter. The reading of
the pitch and roll will be displayed on the driving station and
as a future work an adjustment of the depth of Triton will be
done, by pressing a certain button in the driving station.
2.3. Tether
The ROV’s tether is used to transmit power and data between the ROV and the surface. Triton’s
tether is about 20.0m thus for easier transportation of the ROV, Oceanus has designed a tether splitter
as shown in fig.23.
The tether splitter consists of a 60mm diameter acrylic tube
and 2 end caps. The tether splitter will help to decrease the
drag force of the tether on the ROV as shown in fig.24 and
25.
Besides decreasing the drag force, the tether splitter is
really useful when needing to extend the tether; in order to
provide further depth for the ROV to navigate.
3. Payloads
One of the main tasks for this year’s MATE ROV
competition is installing temperature sensor over the
hydrothermal vents at the ASHES site and obtaining real-
time temperature data over an extended time period.
Likewise, reporting and graphing temperature readings
every 1.5 minutes over a 6-minute time frame. Accuracy of
the temperature reading is one of the important issues that
have been put into consideration. Researches for the
temperature sensors were carried out to finally find four types
of sensors which are: thermocouples, Resistance Temperature
Fig.22:LSM303DLHtriple axis
accelerometer combined
with a triple axis magnetic
sensor.
Fig.24:Cable splitter.
Fig.23:Cable splitter.
Fig.25:Cable splitter drag.
Fig.26:Cable splitter Drag.
11. Page 11 of 18
Detectors “RTD”, thermistors and integrated-circuit
temperature sensors.
RTD sensor is based on the fact that metals increase in
resistance as temperature rises. The most accurate
readings are RTD’s readings. Regrettably; we didn’t find
any RTD in Egypt. As for thermistors, they are made
from oxide-based semiconductor materials and are
manufactured in a variety of sizes and shapes.
Unfortunately, thermistors are nonlinear; therefore, they
are not usually used to get an accurate temperature
reading but to indicate temperature changes [3]. The
thermocouple is based on the Seebeck effect, a
phenomenon whereby a voltage that is proportional to
temperature can be produced from a circuit consisting of two dissimilar metal wires.
Correspondingly, it gives accurate reading although; we faced a problem of the compensation.
Integrated-circuit temperature sensors come in various configurations. A common example is the
LM34 and LM35 series. The LM35 produces an output that is proportional to Celsius temperature.
We used LM35 and isolated it in loafed shape, due to the narrow ¾ inch PVC pipe set inside a five
gallon bucket. In other words, we had to make the design loafed to quickly set the temperature probe
approximately 4 cm down inside the ¾-inch connector.
4. Reflections
Building a Triton from A to Z requires hard work and teamwork as we rewarded the challenges and
the obstacles we have faced as a team with creativity and thinking ‘outside the box’ towards a diverse
range of problems and tasks. We have had challenges with teamwork as we faced different opinions
but in the end we passed these differences and chose the best for our ROV as a unit to something
greatly higher and a greater purpose than individual self. This incredible experience had an effect in
our personality and our vision to the upcoming considering our purpose to the future; as some of us
decided to follow some careers depending on what they have most preferred during this experience
such as programming, electrical or mechanical engineering.
5. Lessons Learned
Throughout this amazing experience, lots of lessons have been learned which might be impossible to
list all of them. Beginning with the technical lessons and skills, the crew has learned how to use
various art designs, electric and mechanic programs for instance Altium, Solid Works, ISIS, Code
Vision, Ansys plus Photoshop. Actually, before joining the company, the majority of the company
members had never exposed to or trained on how to work with programs identical to these, however;
now every member of the company can proudly say that he/she can deal with them excellently.
As well, many of the members gained the precious skill of being able to work safely around and
control all of the shop tools used during the manufacture of Triton. Moreover, the crew has learned
how to write professionally technical reports, sketch flowcharts and illustrate a variety of vehicles
with different programs.
Fig.27:Task 2,Payload system.
12. Page 12 of 18
Aside from the technical aspect of Triton, the communication skills between the company members
have greatly developed. Oceanus staff has not only learned how to communicate with public,
throughout the presentations and the interviews with different companies in order to find sponsors,
but also how to communicate clearly with others in or out of the company.
The most important lesson learned is how to work together as a united team and how to organize time
between the ROV training and diverse responsibilities in general. These qualities will surely help all
Oceanus staff progress more in their lives and enhancing their future.
6. Teamwork
A successful ROV cannot be done without the teamwork as it is one of the most important success
factors existing in Oceanus Company. Triton was built from the ground up manufacturing it by all
team members, with the supervision of mentors. In addition to the construction of the ROV, the
technical report was written by all the company’s members. In other words, both of the report and
the construction of the ROV were a company effort.
A detailed Gantt chart was developed, in order to ensure that all the work will be done in time. The
Gantt chart is also provided in fig.28 where it is clear that each member was selected for a specific
role and had the responsibility to accomplish a defined task. Thus, there was no overlap in the work
and every member was aware of his responsibility. Every week, a table was filled with the tasks
done consequently which facilitated enormously writing the technical report.
The company members were always in touch. They were communicating using Facebook; to
synchronize meeting times. Besides they were discussing their tasks together not only by e-mail but
also by text messages and phone calls. These communication methods built a strong sense and a
beautiful spirit of teamwork in the company which strengthened the cooperation together. As a
result of the enhancement of the team spirit, the rate of work was enhanced too.
Fig.28:Gantt chart.
13. Page 13 of 18
7. Safety:
Oceanus Co. cared for both of staff and ROV safety. To start with, the staff safety as they:
• Used eye goggles and safety gloves while working.
• Used insulated tools while working.
• Made sure that the circuits are not connected to the battery while repairing any damaged
circuits.
• Used a current tester to test if the electric current is still passing through the wires.
• Worked on wooden floor to avoid the electrical surge that may ground the person and the
whole electric current will pass through his body.
The factor of safety was put four times the range the crew could face, all components were tested to
two bars “20.3m” pressure.
Mechanical wise:
The end caps of the electronics can are isolated by a layer of rubber as the motors' wires pass
through them.
O-rings are incorporated into the end caps; to maintain complete isolation at pressure two
bars.
Smooth edges are in all parts of the ROV.
Kort nozzles are attached to the motors.
Electrical wise:
A 25A fuse is connected to the power line of the tether placed in the driving station. 5A
fuse is placed each motor.
1A fuse is connected to control module.
A current sensor is connected to each thruster; to give an alarm if high current occurred.
A temperature sensor is placed to detect overheating.
Water detection alarm is connected which operates if any leakage in the electronics can is
detected.
A pressure sensor is connected to get the depth the ROV.
An emergency button is placed in the driving station to shut down the system in case of any
emergency.
8. Vehicle system:
Oceanus Co. crew was aware of the significance of the wide featured ROV in the
economical field and that is the reason the Oceanus ROV have been designed to match the
commercial taste as it is characterized by easily removable arms so as to give Triton the potency to
14. Page 14 of 18
be replaced by whatever the client desires. In other words, the client may change them to larger or
stronger grippers since the grippers are portable and can be replaced with another design which is
an advantage existing in the vehicle allowing the ROV to do different and more difficult missions
with more flexibility.
9. Troubleshooting:
Throughout the manufacture of Triton, Oceanus staff has faced some problems which they have
overcome as quickly as possible.
To begin with the mechanical part, a pressure chamber was made to test all pieces used, such as the
electronic can and the tether splitter. The aforementioned chamber simulates a depth of over 20.3m,
which is approximately four times the specified in the MATE ROV competition rangers’ class. In
addition, after testing the fail of the isolation of the electronic can, a layer of wax was put.
Unfortunately, a thick layer of rubber replaced the wax, as the wax wasn’t that efficient.
As for the electrical part, when ROV's gamepad control was used some of the motors have failed to
respond to the button press, and was hard to figure out if the problem was with the connection
between the pressed button and the relay or with the connection between the relay and the motor. In
order to overcome this problem, Oceanus company’s crew decided to place a LED and a current
sensor on each motor. If the button is pressed on and the LED is not emitting light and the current
sensor is working, then that shows that the problem is with the connection between the button and the
relay. And if the LED is emitting light and the current sensor is not working then that means that the
problem is with the connection between the relay and the motor.
After using the aforementioned technique, Oceanus crew has accomplished a great success in
overcoming technical problems.
15. Page 15 of 18
10.Challenges:
10.1 Technical challenges:
As a technical problem faced by the company, the crew wanted to put at least one board of
sixteen relays in a cylinder of diameter 11cm. The aforementioned board was of dimension
30cm* 10cm which would has cost scratches to the cylinder with only 1 cm difference between
the diameter and the length.
Accordingly, two boards were used instead carrying sixteen relays (thirty two in total)
with dimensions 8cm* 6.5cm.The previous change was greatly better with a roam of 4.5 cm
between the length and diameter without any risk of damaging the cylinder.
10.2 Non-technical challenges:
Since the beginning of the company’s meetings, there have been some non-technical issues to be
discussed. The first issue was the leak of organizing: each member wanted to be charged of a
specific position. Fortuitously, this problem was solved by elections and filtering the candidates
with by consulting our mentors.
The first disappointment experiment the crew had: the test of the first version of the ROV and it
took it more than an hour to complete the missions. As a result, the crew became grimed because
they worked hard before the trial day. Nevertheless, the crew soon had the imperturbability and
decided not to waste more time and energy on a useless matter. Oceanus company crew finally
realized that nothing would come easily and notified the disadvantages of the design back then,
and rearranged strategies until Oceanus determined that the exemplary design would be the dry-
hull.
11.Future improvements
Next time Oceanus desires to participate in the MATE ROV competition, the crew aims to use all
the Triton’s sensors, such as tilt, compass, accelerometer, and finally pressure sensor, in order to
calculate the depth of the ROV plus, the most important part, maintain its depth when a certain
button in the driving station is pressed.
16. Page 16 of 18
12. Budget:
All values are in EGP.
Items and quantity Donations Expenditures Re-Used Actual
Electronics (on ROV) 170 170
Electronics (topside) 500 500
Acrylic Tube 200 200
Acrylic ROV Body Sheets 800 800
Acrylic DOOM 50 50
End caps 300 300
Propellers * 8 600 600
Propeller coupling * 8 140 140
Thrusters * 8 2200 2200
Thrusters Housing & kort nozzles 320 320
Tether 200 200
Cameras 3 600 600
Servo Controller Board 150 150
Miscellaneous Electronics Parts 2000
H-Bridges 2000 2000
Pressure Sensor 750 750
Digital Compass tilt compensated 250 70 320
Current sensors * 8 600 600
Water Detection *2 50 50
Team Shirts 500 500
Total 10,450
Contributors
Brilliance Language School 1000 LE
NotionsAcademy 2500 LE
Total 3500LE
18. Page 18 of 18
ROV
DC Power Supply
Tether
Fuse/Circuit Breaker Driving Station
Scr
een
Remote
uC
Sensors
UC
Safety
UC
Temperature
UC
LCD
LCD
LCD
LCD
ON/OFF
Switch
Remote
uC
Sensors
uC
Safety
UC
Camera
Camera
Camera
Filter
Camera
Filter
Connector
UC Power
SupplyFilter
& Regulator
Current Sensor
Current Sensor
Current Sensor
Current Sensor
Current Sensor
Current Sensor
Pressure
Tilt
Compass
Temperature
Water Detection
Temperature
Sensor LM35
Fuse
Fuse
Fuse
Fuse
Fuse
Fuse
12V
5V
GND
Camera Signal
USART Signals
Sensors Signals
