underwater rov control package - edgeedge.rit.edu/content/p09201/public/p09201_fprp.pdf ·...
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Underwater ROV Control Package
P09201 | Project Review
Brandt | Gregory | Lavrich | Letourneux | Savage | Stanton
Kate Gleason College of Engineering
Multidisciplinary Senior Design II
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Our TeamColby GregoryTeam Lead / HardwareEEEE | 09
Bryan LavrichDigital DesignEEEB | 09
Dan BrandtSoftware InterfaceEECB | 09
Jon SavageGUI DesignEECC | 09
Florian LetorneuxHardware / PCB DesignEEEB | 09
WIlliam Stanton Hardware Design / TestingEEEE | 09
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Project DescriptionIn order to provide an end user with the means of controlling RIT's underwater ROV, this project must create a system that will allow the user to interface with the ROV in real time. An ancillary requirement for providing this system is that this project must also enable and streamline the communications between the current and future individual components of the ROV.
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Project Scope
• Provide a user-friendly graphical interface for controlling the lighting and thrusters of the ROV.
• Define software communication protocols to be used by all current and future ROV modules.
• Define hardware communication interface to be used by all current and subsequent ROV modules.
• Design a bridge for easy networking of modules.
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Customer Needs
• All components must fit in standard housing already developed
• Develop testing apparatus to show operation of software and interface
• Design should be modular, allow for adding of components easily
• Minimize power efficiency and heat dissipation• Must be scalable, must be able to add additional bridges
to the interface• RS232 interface to surface
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Customer Needs
• Must accept user input through a GUI• Software should control light intensity, spectrum, thrust
direction and speed• Control both surrogate lights and thrusters simultaneously• Open Source Software Implementation• GUI incrementally adds modules as devices are attached
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Customer Needs
• Design documentation is a must• Both HW and SW should be able to control a slave
bridge• HW/SW Command prioritization• Interfaces with other projects (to some extent)• Anticipate the migration to land vehicles, not necessarily
plug and play compatible
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• Starts with a GUI and a user input• Users command is then wrapped
a n d s e n t d o w n t h e communication and interfacing layers
• Command ends up at interface board (aka ‘The Bridge’), routes to device
• This is a two way path, feedback is anticipated from devices
Our Concept
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Our Concept (user)
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Our Concept (data)
RS232
EIA485
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Our Concept - Bridge
• Our hardware interface between software and the device
• 1 Input - 10 Outputs, can be made up to 16
• Completely expandable to other bridges
• RS232 to surface
• EIA485 to devices and other bridges
• Uses a time sharing algorithm to allocate a fair amount of time to each module
• Programmed through JTAG
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The BridgePower Circuit
Atmega328
Programming Header
RS232 Interface
EIA485 (10x)
Bridge Mode Selector
Daisy Chain
USART
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Design Challenges
• PCB Layout issues
• Soldering (by hand) 0.2mm pin spacing
• Testing our hardware and software
• Reliability
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Testing• We designed a test fixture
to emulate a thruster, light, or ‘gamma device’
• Software on the host computer facilitates the ability to switch between what the test fixture will look like to the bridge
• Allows the comprehensive test of the interface between hardware and software subsystems
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Risk Assessment• SW Risks
• Communication problems
• Coding standard violations
• SW/HW integration
• HW Risks
• Prototyping
• Noise
• PCB layout
• Drive capacitance
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Murphy’s Law• Software components
work excellent on their own, not necessarily together
• Test fixture glitches
• ‘Connectorizing’ the system
• GUI issues, crashing on device removal
• Two-way communication
• Flow control on the bridge
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Beating Murphy’s Law
• Debug-debug-debug!
• Capacitors seem to solve all glitching problems
• Generous donation from L3 GCS solved the connector issue
• More debugging and feature addition solved the GUI crash
• Implemented after test fixture reliability was proven
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Current State of Design
• 1.75 Bridges, 2 Test benches
• PCB issue has been fixed in design software
• Software 90% implemented
• Still some bugs to work out
• All issues are documented and published on EDGE
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Lessons Learned
• Hardware design process MUST be followed
• Design >> Prototype >> Implement >> Debug
• Hardware has to be finished before software can be fully tested
• Measure twice, cut once
• Talk to your customer, despite what Todd says
• All disciplines must remain in contact
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Special Thanks
• Edward Hensel, PhD
• Wayne Walter, PhD
• Todd Fernandez
• Jeffrey G. Lonneville
• Ken Snyder
• James Stefano
• Daniel Phillips, PhD
• Dorin Patru, PhD
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Q&A