Page History

Motor house

•  Stepper code
•  Wiring
•  Printing all parts
•  Make two new aluminum shaft
•  Finish assembly
•  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
  •  ZeroMQ
  •  NMEA
•  Get communication between RPi and both Teensy
•  Try to fix current API instead of coding a new form scratch 
•  Teensy use different baudrate than arduino. Edit serial_finder.py to correct baudrate.
  •  also edit serial_handler.py find_com_port
•  Compiler error main code on the surface unit
  •  test code from different branches

Other

•  Consider rewiring electronics tube connection to external components
  •  Data wire is connected to big screw terminals.
  •  Wires often breaks or loosens. (at the terminal)
  •  Connectors that can easily be disconnected is preferred
  •  Connectors that are smaller than hole opening. 
  •  Wire to wire connectors. dupont, jst?
  •  Custom rail with PCB screw terminal on one side and quick connector (jst?, shrouded header?)
  •  All terminals should be marked with number and direction of connector (if dupont is used)
  •  Make it customizable, add extra ports and connection possibilities. 
•  New mounting for stepper drivers. 
  •  Current mounting restricts airflow on both sides
•  Camera and camera mount
•  Side scan sonar
  •  make a box for connections
  •  connect to rov and test on gui
•  fix depth sonar
•  make readMe on teensy code
•  Depth sensor is poorly connected
  
  •  Also check I2C voltage level on both sensor and teensy

...

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.

...

Remaining tasks:

...

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

Important before testing

•  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.