Design

This year's design features many simplifications from previous years'. Our vision system is also really important as well. Being able to see clearly under the surface, with a camera featuring a wide field of view will allow our operator to manuver around obsticles with confidence. Below are some of the goals of this year's design:

Single Electronics Tube

With respect to waterproofing, we are designing for the least amount of possible failure modes. This means an all inclusive, single-tubed controls housing with endcaps that feature double O-rings for an even tighter water seal. Since UNH ROV is a research roject, continuous development and upgrading is necessary, which is why the rear endcap is not perminently sealed. The endcaps will also feature a Sub-Con connecters for their water-tight performance and reliability.

6 Degree of Freedom Movement

Thruster orientation is chosen based on calculations with respect to the center of gravity and fluid flow, internal and external to the ROV. This thruster arrangement, coupled with an intelligent control systems, allows for precise movement throughout the underwater environment for a variety of free-swimming and floating aplications.

Robotic Arm

A manipulator is necessary to complete many challenges in the MATE ROV Competition. This year's design will feature mostly a static arm with a "thumb" and "finger" along with rotation along the neutral axis of the arm to grab objects oriented vertically or horizontally. The reason for a simple design is the lack of a need to over design. The ROV, with a 6 Degree of Freedom movement, will be able to orient itself in any manner to access what it desires.

Camera Gimbal

Human interface devices are important in teleoperated control of the ROV. The pilot must be able to efficiently and intuitively orient the ROV for specific tasks. To aid in this, a camera is places in the center of an acrylic hemisphere at one end of the electronics tube and is placed in a 2-axis camera gimbal. The gimbal can be controlled by an analog input and stabilized with an Inertial Measurement Unit.

ROVs

2012-2013 ROV

2013-2014 ROV

(summer)

There have been five UNH ROV teams in the past, 2008, 2009, 2011, 2012 and 2014. All five teams had successful ROV’s which passed their regional competitions. Each year’s ROV has been steadily advancing, from a basic joystick control in 2008, to the more advanced LabView user interface and motor controls used in 2009, to an even more advanced system utilizing an onboard computer, a PlayStation 3 controller for command inputs, and a custom user interface. Last year’s team travelled to Ann Arbor, Michigan for the ROV competition after passing their regional competition requirements. This year, we hope to improve on the controls and geometry of the ROV, organizing the electronics and hardware, as well as creating a more compact chassis. The travel to competition will play a role in our design this year with the intension of a more light weight and compact design, as the cost of shipping has increased from years past.