Latis II Underwater Remotely Operated Vehicle Technical Report

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SURFACE CONTROLS MAIN CONTROLS Latis II is capable of six degrees of motion; three axes of translation and three axes of rotation. A 3D Space Navigator was used to help make the propulsion control intuitive for the pilot. The 3D navigator is capable of motion in the same six axes that Latis II is, so the pilot simply moves the navigator manner that he/ she would like Latis II to move. The 3D navigator allows one handed control of the ROVs motion. Having one hand free, the pilot can use the mouse or keyboard to interact with the LabVIEW program dashboards on the computer. ARM CONTROLS Latis II features an intricate pair of arms, each one capable of four degrees of freedom. Controlling these arms through joysticks or sliders on the computer screen would be complicated and require a great deal of practice for the arm operator. Taking inspiration from arm controls seen in the FIRST Robotics Competition, Latis II has a set of control arms on the control board. These control arms contain three potentiometers for the lower joints, as well as a mini-joystick for control of the wrist and gripper. As these arms are moved to various positions, the software adjusts the servos on Latis II to match the angles read from the sensors on the control arms. The sensors are connected to an Arduino Mega controller, which sends the values to LabVIEW via serial communication. This style of arm control is significantly more intuitive for the operator, greatly reducing practice time required to become skilled at using the system. 6 LATIS II TECHNICAL REPORT Figure 5: Control Arms POWER SUPPLY BOX An acrylic box was designed and fabricated to hold all of the power converters, video convertors, fuses, switches, camera and power connectors, and the main 40A breaker while supplying continuous air circulation to all the components. Three DC-DC converters step the supplied 48V down to 24V, 12V, and 5V for the ROV. The power supply box also contains all the connections for the video lines that allow the tether to be plugged in on one side and the VGA monitor wires run out the other. With their power box design the UMaine Team can be set up and ready to compete with their ROV in less than a minute. Figure 6: Power Supply Box
7 Figure 7: ROV Pool-Side Electronics LATIS II TECHNICAL REPORT
Page 1 and 2: 2010 Latis II Underwater Remotely O
Page 3 and 4: BUDGET/ EXPENSE 3 LATIS II TECHNICA
Page 8 and 9: 8 Figure 8: Onboard ROV Electronics
Page 10 and 11: 10 Read 3D Navigator Convert 3D nav
Page 12 and 13: 12 Figure 13: Arms Collecting a Cru
Page 14 and 15: TETHER The tether supplies Latis II
Page 16 and 17: attling leaks. Hours of research wa
Page 18 and 19: LOIHI SEAMOUNT The Loihi seamount i
Page 20: REFERENCES School of Ocean and Eart

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