Competition Booth

The booth will be visited by the judges during static judging, media and potential sponsors.

[edit] ARVP 36" Banner

AUV Shell Design
- Specs: (size = 0.75m x 0.6m x 0.70m, weight = 34 kg, top speed = 1.1 m/s, 29 min)
- Hulls: 6061-T6 aluminum hulls. Main Hull holds internal components and 80/20 Beams. Two separate battery hulls protect internal electrical equipment from battery failure. Sprayed with blue rubber coating to prevent corrosion and improve aesthetics.
- Main Hull Seal Integrity: A slight vacuum is created within main hull, and an external gauge measuring the internal pressure ensures the integrity of a waterproof seal of main hull.
- 80/20 Beams: Mount external components.
- Ballast Mechanism: Incremental masses placed on variable ballast mechanism to control pitch and heel of AUV.
- Thrusters: 6 Seabotix BTD150 thrusters provide 5 degrees of freedom including all three translations (heave, sway and surge) as well as two rotations (yaw and heel).
- Hydrophone mounts: 4 SQ26-11 hydrophones mounted on 80/20 beams. Two in front, two in back to maximize distance of hydrophones.
- Crustcrawler Camera: Mounted on 80/20 beam in front of AUV.
- Modular Claw Units: 2 Claw units are actively controlled by 4 SQ26-11 hydrophones 4 Traxxas 2075 waterproof servos.
- Electronic Rack Design: Contains temperature controlled fan to improve heat dissipation. Modular design eases removal of rack, improves the workability of the components, and contains ample space for future components.
- Picture of AUV

Rack Design
- Description: The rack houses the majority of Bearacuda's internal components. The 2008 rack design made inefficient use of space as shown in the Previous Rack CAD Design (**LABEL components in drawing**). The 2009 design utilizes a 1/4" board of metal where components are mounted on more appropriately.
- Has a temperature controlled fan to improve heat dissipation
- Put view pictures together horizontally
- View 1
- View 2
- View 3

Treasure Grabber
- Description: A two claw system is controlled by two Traxxas 2075 underwater servos. The servos are linked up to existing servo controllers inside the submersible.. To trigger the claw, a water-proofed momentary bump switch was placed under the main housing of the claw mechanism. A trigger plate was then placed above this switch to give it a wider area of sensitivity. The bump switches on each claw unit relays information back to the onboard embedded computer to help assess whether or not the treasure has been grabbed correctly and to prevent the claws from misfiring in other stages of the competition.
- Only 1 pulse width modulation channel was required to control the 4 servos cutting down on cables and controller complexity
- Need to get pictures of treasure grabber CAD arm

Hydrophone board
- Description: The raw signal from the hydrophones is first sent through two programmable MAX261 bandpass filters. The filtered signal is then sent to a dsPIC30, which time stamps each of the signals and sends them directly to the embedded computer.
- Program flow chart: http://www.arvp.org/images/d/d5/Program_Flowchart.pdf
- Picture of Geometric Analysis
- Graph of TDOA vs. Centre Line Angle

Sensors
- Inertial Measurement Unit
- Digital Compass
- Altimeter/Pressure sensor

Propulsion System
- 2 Roboteq AX500s
  - Description: Each motor controller can drive 3 thrusters with a 16 kHz pulse width modulation (PWM) and are capable of sustaining a current of up to 15A. RS-232 connection. Receives
Power System
- Voltage Regulator Board