Neptune: Build
Neptune is an AUV/ROV built to operate using Olin's Autonomous Kore brain architecture. It was designed and built by Connor Novak and Christina Segar during summer '17 as an experiment in creating a standardized RCABS ballast system submarine.
- Teensie 3.6 (reference)
- Odroid XU4 (reference)
- PCM S 9 Channel 72MHz Receiver (reference) (reference)
- BlueRobotics T200 Thruster (3) (reference)
- 30A ESC (3) (reference)
- MPU-6050 Accelerometer (reference)
- HOYA Water Sensor Module (reference)
- 1X L78S09CV Voltage Regulator (reference)
- NiMH Battery (2) (reference)
- Hall-Effect Sensor Module (reference)
- Indicator LED
- Running LED & Resistor
- Power Distribution Bus (2) (reference)
- Bar30 Pressure Sensor (reference)
- BMP280 Pressure Sensor (reference)
- 2X7 Roboclaw Motor Controller (reference)
- VAC-100 Vacuum/Compressor Pump: (1x) (reference)
- Pneumatic Solenoid Valve: (2) (reference)
Neptune is 4.5 inches in outer diameter and just over 2 feet in length. This size is intended to be the standardized AUV size for Olin submersibles. The sub implements an RCABS ballast system causing the tube to be separated into three compartments -- two dry and one wet. The middle tube is sealed off from the two adjacent tubes and floods with water when Neptune is submerged. An air bladder is inflated to push water out of this chamber in order to raise/lower the sub.
The two side tubes house the electronics for Neptune's system (parts listed above). Because the electronics need to be accessible, we designed trays that can slide into tracks fixtured inside the tube. The electronics trays themselves needed to be small enough to fit inside the 3.5 inch inner diameter of the endcaps so that these don't have to be removed each time the electronics needed to be accessed. Instead, only the acrylic end cap needs to be unscrewed in order to slide out the electronics trays.
July 20, 2017
We wanted to test our design for the electronics board, battery board, and their respective carriages to ensure that the CAD design was practical. Also, we wanted to test out different tolerances to see how close we could tolerance fitting pieces for rapid prototyping.
We fabricated and assembled prototypes of the electronics boards and carriages with laser cut plywood pieces.
Each board assembly fits inside it's respective carriages. The tolerances between the rails and connection pieces need to be taken in so that the board doesn't have as much give within the carriage in the up-and-down direction. Additionally, future versions of this assembly will have acrylic carriages and end pieces (cross section with spiral cut out). This will reduce the friction when sliding along the rails.
The two assemblies in this design are the carriage and the electronics board. The carriage is made to sit inside the tube, flush with the endcap. The electronics board is then able to slide into the carriage while the endcap is still in place. This allows us to avoid removing the endcap and breaking the O-ring seal each time we want to access the battery or electronics.
Christina Segar last edited on 08/09/17
Connor Novak last edited on 07/24/17