Page History

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Important before testing

•  Stepper code and wiring
•  Port side:
  •  Finish building 
  •  Drill hole in steel shaft for wing assembly.
•  starboard side:
  •  Make a second steel shaft. (get help from someone with more experience with lathe)
  •  Print, build, connect and test second motor box
•  Fill with oil
•  Test under water. (might wait with test until rest of rov is ready for test)
•  Product documentation for motor assembly
•  Mount on ROV

API

•  Researching API
•  Get communication between RPi and Teensy
•  Try to fix current API instead of coding a new form scratch 

Other

•  Get tether cable. (from other bachelor group?)

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Old:

From FinalStatusPPT:

•  Mechanical
  •  Motor enclosure
    •  Find out if there is a design or plan for it.
  •  Camera mount
  •  Connectors (suggested: https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/ )
•  Electrical
  •  SONAR integration
  •  Camera integration
  •  In-water testing
•  Software 
  •  Control
  •  Seafloor tracking

From summer report 2021:

page 5

•  Fix Raspberry Pi 5V connection issue (page 5)

page 10

Potential problems:
The rubber endcaps mounted on the buoyancy pipe might break when exposed to 10 bars of pressure on 100m depth. From inverse pressure testing of a pipe in the lab with mounted rubber endcaps, the endcaps buckled 1 cm outwards from the 1,8 bar pressure exerted on the endcap from the inside of the pipe, which was the maximum pressure we could test with before the endcaps blew of the pipe. This could potentially show that the rubber endcaps will break when the TowedROV operates at 100m depth and the vessel losing its buoyancy. A solution could be to change them for PVC endcaps and seal them with epoxy.

The need for a fixed stern wing should be taken into consideration for stability control of the vessel. Towing point needs to be taken into consideration for the correct placement of such awing.

The aluminium profiles, screws and T-nuts for mounting should be anodized for corrosion resistance. Due to the group members lack of knowledge on anodized metals, a potential corrosion might occur in the threads between the T-Nuts and screws due to the anodization being damaged. As such a new connection solution might be needed for frame assembly and utility mounting.

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Remaining tasks:

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page 11

•  API communication
  

page 12

•  Fix Sonar connection issues
•  Test API Side scan sonar implementation 

page 16

•  Trash detection is too slow

page 17

•  web page is not finished

• Testing location: check if it is possible to test towed ROV in wave simulator using actuator for dragging. 
•  Re-mount camera
•  Re-mount wing actuator
•  Get a new ping sonar. Current sonar is non-responsive
•  Mount cable strain relief. 
•  Vacuum test with hand pump.

Other

•  Update docs (camera and Rpi setup)
•  Update IMU position data. (orientation is wrong)
•  Get camera stream to GUI.
•  Get access to github repositories
  •  Move towed ROV 2022 fork to main repo.
•  Add temperature sensors (D18B20)
  •  Solder sensors on both ROV PCB
  •  Add temperature to code
•  Test database.
•  Make new schematics for suitcase
•  Fix automatic height mode. (PID in stepper teensy)

Improvements

•  Test removing some capacitors to reduce start current. (First power converter 12v-50v is struggling with startup)
•  New wing design. Current design is wobbly.
•  Move api and GUI to RPI. Use web server GUI.
•  Get side-scan sonar.
•  Buy sonar chip for side scan sonar.
•  Improve physical design. Wing dimensions, placement7
•  Add sprint to Boat side of Cable.