Pressure Testing the ROV

Le Wed 01 June 2016

I was finally able to test the ROV in New Zealand Diving and Salvage's decompression chamber. Dissapointingly the ROV leaked at pressure and so there is a need for some redesign for some of this. This page describes the pressure test and presents the results.

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Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure / Seals /

Autres articles

ROV Control Sketches – Fourth Edition

Le Mon 04 April 2016

This update is the eighth edition of the ROV control sketches. This update includes modifactions to the circuit boards and code to accommodate an i2C bus which the MS5803-14BA Depth Sensor and HMC5883L Digital Compass connect to.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / PS2 / Playstation / ESC / Servo / Camera / Electronics / Communication /

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A Simple Pressure and Temperature Logger

Le Tue 23 February 2016

This article describes a simple logger arrangement that measures pressure and temperature from two pressure sensors; a BMP180 barometer for when things go right, and an MS5803-14BA high pressure sensor for when things go wrong. This logger will be installed inside the ROV shell in place of the control electronics to record the internal pressure while the ROV is subjected to design pressures in a dive decompression chamber. This will show up if there are any leaks. If the pressure rises then there is a problem.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Pressure / Electronics / CSV / Sensors / Temperature /

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12V Lead Acid Battery Monitor

Le Wed 03 February 2016

Both the ROV base station and the FPV base station I use are set up to be powered by a 12v battery. I was a little concerned that running these rigs for extended periods was exhausting the battery and dropping it to levels that could potentially cause it permanent damage. I needed a battery monitor that could warn me when I had used more than the battery could comfortably deliver. This article describes the 12V battery monitor I devised for the purpose.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Electronics / RC Aircraft / Energy /

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Arduino Library Collection

Le Thu 21 January 2016

Throughout my various Arduino-based projects I have made use of quite a number of excellent libraries that are not part of the standard Arduino IDE. To future proof these projects against the original sources of these libraries disappearing or updated libraries not working for these projects I have collected up the various libraries I have used and will host them here. In the first instance I would suggest going to the original sources for these libraries for the most up to date versions. The versions I am hosting here will not be updated.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Pressure / Electronics / Sensors / Communication / Playstation / PS2 / Serial / I2C /

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A Simple Arduino Based Logger

Le Tue 19 January 2016

This article describes a very simple Arduino based logger for capturing temperature data and recording it to a MicroSD card. It is intended as a building block for another logger project that will include pressure measurements for use during an in-air pressure test for the ROV project.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Pressure / Electronics / CSV / Sensors / Temperature /

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Programming and Calibrating the EZRUN 18A ESCs

Le Wed 02 December 2015

Programming and calibrating the Hobbywing EZRUN 18A Car ESC is a process that requires a bit of concentration and user input throughout. This article describes the process of setting the ESC program to suit the ROV, and also how to calibrate it so that it will play nicely with the ROV's control sketches.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / ESC / Servo / Electronics /

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Trial No 2 - The Swimming Pool

Le Tue 13 October 2015

The second test for the ROV was in a pool. This allowed a little more room to maneouver and also a little more depth. I am very pleased to say the ROV performed beautifully. Here is the description of the trial, a video and a few shots.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Thrusters / ESC /

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ROV Tether Management System

Le Sun 27 September 2015

The Tether Management System for the ROV went together remarkably well, and I feel I ended up with a good robust system that will be able to withstand the rigours of operating in a marine environment. Here is a description of the kit used.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV /

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Bath-time for the ROV

Le Fri 18 September 2015

This was an exercise is seeing how quickly I could flood the bathroom. I found that I was quite successful at this and had the floor awash within seconds of putting the ROV into the bath for a quick trial. The trial was successful.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Thrusters /

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A More Refined Wire Sealing Technique

Le Thu 27 August 2015

I am the first to admit the method for making wire bundle seals for the ROV that I described earlier was pretty ugly. Having made and tested several more seals based on the wax cast epoxy resin plug method, I have refined the technique a little to be a little easier and somewhat more tidy.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure / Seals /

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ROV Control Sketches – Third Edition

Le Wed 26 August 2015

This update is actually the seventh edition of the ROV control sketches brought about by the hardware being mounted on the frame, with a proper tether and with the camera in place. These updated editions now have the motors turning in the correct direction to get the best out of the ESCs in the direction that most matters. It also implements proper triggering for the Horyzon v3 camera and introduces some work arounds to fix a mismatch between what the camera says it is doig and what the topside indicator LEDs are indicating. On this last point, the onscreen cues for the camera status are a better indication of what it is doing than the topside LEDs, so these will be eliminated from the sketch and circuit in a later edition.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / PS2 / Playstation / ESC / Servo / Camera / Electronics / Communication /

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HMC5883L Digital Compass on an Arduino

Le Mon 03 August 2015

This is a simple sketch to test out the HMC5883L based digital compass for potential inclusion in the ROV project. It consists of an HMC5883L digital compass breakout board, and Arduino, and a 16x2 LCD display.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Electronics / Sensors /

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ROV Motor Upgrade

Le Mon 03 August 2015

The ROV uses the same motors as the OpenROV, namely 2213N 800Kv brushless DC model aircraft motors. Because model aircraft tend not to be used underwater, the motors are not really designed for marine use. The OpenROV community came up with a solution to this problem and explain it very well in their online guide. The solution was to swap out the standard bearings for ceramic and stainless steel hybrid bearings and treat the windings with corrosion proofing paint. This page describes the same process, more or less.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / thrusters /

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Investigations into Wire Sealing Methods

Le Fri 17 July 2015

I am pleased to say that I have finally managed to come up with a method of getting the bundles of wires through a large cable gland without the water getting through as well. This method has been tested with a 5 bar pressure difference across it to simulate a depth of 50m. The test method is described on the “Pressure Testing Rig for ROV Seals” page. The various test pieces used in this development were all subjected to 5bar pressure and held at that pressure for a minimum of 30 minutes. The successful method makes use of an epoxy resin plug which encapsulates the wires.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure / Seals /

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Pressure Testing Rig for ROV Seals

Le Mon 15 June 2015

In order to get the wires from outside the ROv to the inside without the water getting in as well, I am intending to use a proven industrial technique which makes use of Cable glands. The one's I have to hand are rated to 50m, but 100m ones are available too. The challenge is that I intend to run the punches of small wires through an outer sheath that the cable gland will be acting on. I have built the pressure test rig described here to simulate the effect of depths of 50m on the methods I use to seal the smaller wires into the sheath.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure / Seals /

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Canadian ROV Manufacturers

Le Tue 12 May 2015

While travelling around British Columbia I was fortunate enough to visit a couple of ROV manufacturers based there. This is a short report on those meetings.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : Travel / ROV /

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ROV Control Sketches – Second Edition

Le Wed 18 February 2015

Well …. actually this is the fifth edition of the sketches seeing as they have evolved somewhat with the addition of better displays, more sensors, and more data being fed back to the topside station. So this page describes the two Arduino sketches and associated circuits have been developed to feed control commands between the operator using a PS2 controller handset and the ROV. The sketches and designs presented here are the basics required to run the ROV but have better developed data exchange between the two Arduinos. The circuits and sketches have been successfully tested on dry land with the 100m CAT5 cable tether in place.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / PS2 / Playstation / ESC / Servo / Camera / Electronics / Communication /

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Three Arduino Circuits for Temperature Measurement

Le Tue 27 January 2015

So many ways to measure temperature with an arduino! Here is a brief investigation into using three different types of temperature sensor; Thermistors, DS18B20s, and TMP36s. This is with the intention of adding one of these to the ROV circuit so that I know when it has caught fire.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Sensors / Electronics / Temperature /

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ROV Control Sketches – First Edition

Le Wed 21 January 2015

Two Arduino sketches and associated circuits have been developed to feed control commands between the operator using a PS2 controller handset and the ROV. This brings together a number of the development sketches. The sketches and designs presented here are the basics required to run the ROV and have been successfully tested on dry land with the 100m CAT5 cable in place.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / PS2 / Playstation / ESC / Servo / Camera / Electronics / Communication /

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Control of the Horyzon HD Camera with an Arduino

Le Wed 21 January 2015

The ROV makes use of a HoryzonHD Full HD 1080p FPV camera V3 sold by FoxtechFPV for the pilot's view of the world and also to record or take photos. Because it is sealed in the ROV it is going to need to be controlled remotely via the ROV's Arduino. This page describes a test arrangement where the Arduino runs through a routine of taking photos and shooting movies using the HoryzonHD camera.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Camera / Electronics /

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ROV Idle Sketch

Le Wed 21 January 2015

When you are building or developing something on the ROV and you have the electronics in place, there are times when you want to apply power to the system but you don't want everything to go wild. This sketch puts the ROV system into a neutral or Idle state. Think of it a bit like the “blink LED” sketch when you first learn to program an Arduino.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino /

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ROV Project Updates

Le Wed 10 December 2014

This page is intended to a convenient place to look for any updates that have been made that may not appear on the “What's New” page.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV /

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ROV Brushless Thruster Testing

Le Wed 19 November 2014

I felt a sudden need to test the thrusters output. This page describes the test rig, and the results from a small selection of propellers.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Thrusters /

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PS2 Controller Sketch for ESCs and Stuff

Le Wed 22 October 2014

The ideal controller for this ROV is a wired Playstation 2 controller. Luckily they are still made and there is a library for the Arduino to talk to them. This description is for a development sketch to take input from the PS2 controller and actuate a bunch of servos and light some LEDs to simulate the systems onboard the ROV. The program is constructed to allow for easy transfer into the Master and Slave sketches that will ultimately be based on this.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / PS2 / Playstation / ESC / Servo /

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Two Way Serial Communication

Le Mon 13 October 2014

In order to be really useful two way communication through the serial link is needed between the Arduino at the pilot's end and the Arduino onboard the ROV. This will allow data such as battery condition and depth or other sensor readings to be sent back to the pilot. A simple development pair of sketches is shown on this page.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Communication / Serial /

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Calibrating the ROV's ESCs

Le Wed 01 October 2014

As part of the ROV setup all of the Electronic Speed Controllers (ESC) will need to be calibrated to the Arduino that will control them. The sketch described is designed to be built into the standard operating procedure of the ROV so that it can be quickly and easily done at any stage without the need to muck around with the system to calibrate each one individually. A jumper is used to signal the need to do a calibration run.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / ESC / Servo /

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ESC Calibration Using an Arduino

Le Sun 28 September 2014

An important part of the happy operation of a device using an Electronic Speed Controller (ESC) is that it is calibrated to the device that is outputting the control signals. A sketch was developed to calibrate a single ground vehicle ESC. The sketch described here was further developed to calibrate all four ESCS in the ROV at the same time, links to this further development are given on this page. The same process can be applied to aircraft ESCs with only minor modification to the sequence of "Throttle" settings.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / ESC / Servo /

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ROV Shell Analysis

Le Mon 22 September 2014

A critical part of an ROV is the shell – surprised?. It must withstand the pressure at the target depth as well as not be so heavy that it sinks. This page looks and the analysis used to determine the material and pipe dimensions used for the ROV shell.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure /

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ROV Seals

Le Sat 20 September 2014

One of the signficant challenges in ROVs is making a reliable seal. For this ROV Static Face seals have been designed that will ensure the seal becomes stronger as more external pressure is applied. This page provide the dimensions of the gland on the main shell and the seal size.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Pressure / Seals /

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Electronic Circuits in the ROV

Le Wed 17 September 2014

The electronics within the ROV are relatively simple and are described on this page along with a circuit diagram of the system.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Electronics /

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Sending Video through the Tether

Le Wed 17 September 2014

A method used for transmitting video through wired connections over longer distances is to use Baluns. This is the technology being used for sending the video feed from the ROV to any video monitor with a video in port.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Camera / Communication /

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Component Model Library

Le Thu 07 August 2014

During the process of designing stuff I have built up a library of digital models of purchased components. This webpage provides links to the various models that I have created so that you can download and use them in your own creations. The models are in Blender and OBJ formats.

Par Hamish Trolove, Catégorie : Models and Games

Tags : Models / Blender / Carrara / RC Aircraft / ROV / Graphics /

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PS2 Controllers on Arduinos

Le Tue 17 June 2014

It appears that the Playstation 2 controllers are still actively produced and sold for very good prices. Because they are packed with quite a number of switches, and some excellent joysticks all in a well designed package they seem like a ideal choice for controlling the ROV. This page describes connecting the PS2 controllers to an Arduino.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : Arduino / ROV / PS2 / Playstation / Electronics /

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ROV Thrusters

Le Mon 16 June 2014

There are several possible avenues that can be followed for the Thrusters on the ROV. The simplest is to do the same as on the OpenROV project where brushless outrunner motors are exposed to the water. Other projects have made use of small 12V DC bilge pumps (ideally brushless). Another option is to adapt the Open Source Thruster Project idea and encapsulate the brushless DC Outrunners in a container that is filled with oil. A final option is a magnetic coupling between the coils within some sealed motor pods and the magnets embedded in a propeller arrangement.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Thrusters /

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OpenSource ROV

Le Sun 15 June 2014

A brief overview of an open Source ROV project with links to detailed pages on aspects of the project. This is a project in development.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV /

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Multi-Joysticks transmitted to Multiple Servos

Le Mon 31 March 2014

In order to control the ROV complex instructions will need to be sent but these must be input into the control system in some way. As an aerly development it was conceived that multiple thumb joysticks could be used. This input method has been superceded by the use of the PS2 Controllers, but the code presented here is still useful and will form the basis for transferring the commands from the PS2 Controllers to the Slave Arduino in the ROV.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : Arduino / Servo / ROV / Communication / CSV /

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Flex Sensor and Servo

Le Wed 26 March 2014

The sketch described is designed to actuate a servo based on the input from a flex sensor. Because the sketch uses serial communications a button push to start and stop the sketch has been introduced to allow upload on Arduino Uno and Mega boards. An LED has also been introduced to show when the sensor and servo have been enabled.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : Arduino / Servo / ROV / Sensors /

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Communication between Arduinos – Serial

Le Sat 15 March 2014

How to get commands between two Arduinos. This was based on the developments with I2C communication between Arduinos and then finding that capacitance of longish wires was enough to kill the signal. This required me to use another method with lower frequency signals. Signals were sent between two Arduinos connected together with 100m of twisted pair cable (ultimately I will use CAT5) Arduino. Once Arduino had a joystick wired to it while the other actuated a servo based on the joystick position on the other Arduino.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Communication / Serial /

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Communication between Arduinos - I2C

Le Sat 15 March 2014

How to get commands between two Arduinos. Originally informed by the examples in the Arduino Cookbook, this test project developed some code that took position information from a joystick and sent it to another Arduino over a relatively short wire that turned it into position motion for a servo. This was to test the ability to get information between Arduinos over long wires.

Par Hamish Trolove, Catégorie : Tech Projects

Tags : ROV / Arduino / Communication / I2C /

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