To do list

Moved to Jira

Motor house

• New stepper code?
  • simplify current code. (maybe not worth it if current code works)
• New wiring? (one coil on one twisted pair)
• Printing new parts
  • ball bearing spacer needs holes for oil
  • Parts should be printed with 100% infill
  • New motor house with extra hole for oil filling (printed in PETG)
    • Hole can be combined with pressure testing
  • Glassfiber/epoxy reinforcement?
• 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
  • Multiprossecing, Thread, Queue
• 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
• Is Rpi powerful enough to run api and database? It could simplify setup significantly for new users and pcs
  • GIU could be run on Rpi website
  • Store data on usb drive  

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
• Use router instead of switch in suitcase. This could should simplify network connections, also add wireless connection to pc .

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.

Stepper motor cables might induce interference in the magnetic sensor due to proximity, as they share the same cable/pipe from the motor housing to the electronics enclosure.

Forces from the wings acting upon the shaft bearings inside the motor housing might damage the motor housing. As such a new motor housing should be taken into consideration to reduce the bending momentum from the wings.

Remaining tasks:

• New towing points needs to be calculated for optimal drag reduction on the vessel.
• The sonar live stream needs to be tested against the GUI again, due to changes in the GUI update sequence for GUI inputs.
• Sonar electronic housing needs to be mounted and connected to the electronics housing.
• Adding a camera to the electronics housing for live view and potentially using servos for camera angle adjustment.
• Adding lights to the frame for better camera image.
• New sea trial needs to be performed.
• There seems to be interference inside the electronics housing. When testing the electronics in the lab, the stepper motors started moving randomly when the system was started.
  
  

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