S.A.R.D.I.N.E

Presented by:

Ben Barenz

Submersible Autonamous Remote Data & Imaging Nautical Explorer

S.A.R.D.I.N.E

Submersible Robot Capable of sensing multiple environmental

parameters Image processing Communication with a base station and/or with

other robots The robot may work in a team with other

robots to accomplish a common goal.

Features

Stepper Motor Drive D/C Servo Steering Pneumatic Controlled

Ascent and Descent Automatic Hull

Pressure Control Active Balance System

(ABS) White or Infrared LED

Lighting

Series/Parallel Switchable 12V Cells

Interchangeable External Port

CMUcam2 CMOS Camera

Custom 530nm Communication System

Sensor Network

Storage Tank, Hull, and External Pressure

Water Present in Forward and Aft Sections

External and Internal Temperature

Inclinometer ABS Slug Travel Sensor IR Feedback from Stepper

Motors Ultra-sonic Ranging

Sectional Overview

The robot’s sub-systems are divided into 3 sections: Forward Center Aft

Forward Control Section

ATmega 2560 Microcontroller Transceiver Interface Inter-processor Communication

Hub Sensor Analyzer

ATtiny24 Active Balance Controller

CMUcam2 SX52 Microcontroller CMOS Camera Controller Servo Control

Sensors Pressure, Temperature, Incline

Center Section

Pneumatic Controls Ascent and Descent Hull Pressurization

Ballast Tank Variable Mass Unit

Storage Tank Compressed Air Storage

Active Balance System Balance Stabilization and

Pitch Control

Center Pneumatic Section

Storage Tank Pressure Sensor

Ascent and Descent Solenoids

Hull Pressure Management Solenoid and Check

Valve Ballast Tank Active Balance System

Pneumatics Diagram

Storage TankHull Pressure

Solenoid

RegulatorAdj

Ascent Solenoid

RegulatorExterior

Vent

Storage Tank Check Valve

From Outside

Ballast Control Solenoid A

Ballast Control Solenoid B

Hull Pressure Check Valve

PP

Ballast Tank

To Outside

Open To Hull

R

Open To Hull

Adj

R

Aft Drive Section

Battery Pack Two Series/Parallel

Switchable 12V Cells Magnetically Coupled

Driving System D/C Servo Steering ATmega24 Controlled

Stepper Motor Drive Sensors

Water Sensing Speed Sensor

Testing

Field testing was performed on the robot numerous time in the bath tub, a horse tank, and the university swimming pool.

Testing

Theoretical Applications

Search Detection and Recognition Searching for a drowning victim or murder

weapon Salvage / Artifact Recovery

Recent disasters, Historic shipwrecks, etc. Reconnaissance / Exploration

Oceanographic exploration, coral reef analysis

Wireless Sensor Network

2-Tier Wireless Sensor Network Tier 1: High Frequency

RF Tier 2: Low Frequency

Tier 1

Tier 2

Buoy

SUB

Sub

Sub

Remote Station

Low Frequency WSN

High Frequency RF WSN

Wireless Sensor Networks

Homogenous Network A,B,C are given the same

task with the same resources

Heterogeneous Network A,B,C are given the same

task with different resources

A

CB

A B C

Questions