SemiAutonomous Submersible Robot for Underwater Research

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Introduction: SemiAutonomous Submersible Robot for Underwater Research

About: www.leevonk.com

this is a submersible robot (a little submarine) that can be operated in manual or semi-autonomous mode.

FOR DESCRIPTION OF WHAT ALL THE FILES ARE, GO TO THE LAST STEP

Step 1: Circuit Diagram

TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif

the rest of the pictures show the construction of the sub. It was made out of two C channels connected by an aluminum sheet. A skid was added to the bottom to allow the sub to skate over the bottom to gather quantitative video samples of the ecology. The skid and two C channels (necessary to hold the large # of sensors desired) was a little heavy so the sub had trouble moving up and down using it's one vertical motor (although there is a fourth small motor in the diagram, we never added that). You should definately be able to make the body a lot lighter so that a single vertical trolling motor will be fine.

Step 2: Code and Documentation, Etc.

TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif

--SmartConsole.bas is a QBasic program that runs in DOS or win3.1 It's an interface that takes data from the subs sensors and displays them graphically on the screen (tilt, yaw, etc)

--SmartSea.bsx is a basic program that runs on the BSX basic stamp (while building the thing I used a BSX, I put another basic stamp in the diagram because the bsx had one too few pin for sensor interfaces)

--BS1_BOBIII is code interfacing the BS1 with the bobIII video overlay chip

--Purchase lists show everything you need to make this.

--The tutorial talks about how to use everything if you somehow make the exact same thing as I do.

--The final paper talks about why I picked certain parts, overview, etc.

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    32 Comments

    This might be of interest to you, but deadline is this Friday!

    CInvetors Coral 02.PNG
    1 reply

    There are better ROVs out there than this one but thanks for the heads up :)

    simply incredible!! nice job!! congratulations!!

    a question, where did you find the motors??

    The link for schematic doesn't work.

    what is the estimated total weight of your submersible robot? :).... by the way, good work :)

    1 reply

    hm, I don't know, was a while ago. maybe 60 or 70lbs? that's just ballpark. that's why we had to add the styrofoam. we should have built it with pvc tubing like everyone else, but we used to heavy duty plastic for the body that was not necessary.

    My brain just died.. I'll be coming back when I understand what this is

    impressive!

    very nice submarine,
    would you consider submitting it to the new ROV group ?

    the Joe-Schmoe version: Just give your little brother a pair of goggles, and throw 50 cents in :) INSTANT SUBMARINE

    Hmm... I wonder if you can attach cameras and use his arms as manipulators...

    Thats funny. LOL I am telling the truth. It is Funny!

    it's all there in the circuit diagram and in the included documentation I've provided for download. The circuit diagram contains all parts numbers and names of all parts I used. It also has the pin numbers and pin names that are connected to and it contains all external components and their values (resistors, capacitors, crystals, etc). If you make the circuit as shown and program the basic stamp with the code I provided everything will work as described. If you don't get the circuit diagram just look up some electronics tutorial on google and a very basic introduction should be all you need to understand how to make the circuit yourself.

    AHHH!!!! I think if I were ten years younger (when I had had more time and patience to learn new stuff) I'd have one of these. About how much did this cost for you to purchase all these parts, however?

    1 reply

    I don't remember I think it was around $1500 or 2000. It was a project for research purposes so wasn't my own money.

    haha, yeah I totally forgot I even used that, I don't think the lab I was working at had visual c++ or any other visual language, and Qbasic got the job done (little moving diagrams of the sub acording to it's angles etc)