SemiAutonomous Submersible robot for underwater research

The remaining images illustrate the construction of the submarine. It was fabricated using two C channels connected by an aluminum sheet. A skid was incorporated at the bottom to enable the submarine to glide over the substrate, facilitating the collection of quantitative video samples of the ecology. The skid and the two C channels, essential for accommodating the numerous sensors required, contributed to the overall weight, which hindered the submarine's ability to ascend and descend effectively with its single vertical motor. Although a fourth small motor is depicted in the diagram, it was never installed. It is advisable to reduce the body weight significantly so that a single vertical trolling motor would suffice. SmartConsole is a QBasic program that operates in DOS or Windows 3.1, serving as an interface to collect data from the submarine's sensors and present it graphically on the screen (e.g., tilt, yaw, etc.). SmartSea is a basic program that runs on the BSX Basic Stamp; during the construction process, a BSX was utilized, although another Basic Stamp is shown in the diagram due to the BSX having one fewer pin for sensor interfaces.

The described submarine construction employs two C channels as the primary structural elements, which are interconnected with an aluminum sheet for enhanced rigidity and support. The design incorporates a skid at the base, which is critical for enabling the submarine to maneuver smoothly over various substrates while conducting ecological observations. The use of the skid is essential for minimizing drag and facilitating the collection of video data, which is crucial for quantitative analysis of the environment.

The weight of the assembly, due to the inclusion of the skid and C channels, presents a challenge for the vertical motor's performance. The motor is responsible for the submarine's vertical movement, and the excess weight can impede its ability to navigate effectively. The suggestion to reduce the overall weight of the submarine is significant, as it would optimize the performance of the single vertical trolling motor, allowing for more reliable vertical mobility.

In terms of software integration, the SmartConsole program serves as a vital interface for data acquisition and visualization. It operates within the limitations of older operating systems, enabling real-time graphical representation of sensor data, which includes parameters such as tilt and yaw. This interface is crucial for operators to monitor the submarine's orientation and stability during operation.

Additionally, the SmartSea program, designed for the BSX Basic Stamp, highlights the importance of microcontroller selection in sensor interfacing. The decision to use a BSX, despite its limitations in pin availability, reflects the practical considerations in the design process. The presence of an alternative Basic Stamp in the schematic indicates foresight in accommodating additional sensor interfaces if required, thereby enhancing the submarine's operational capabilities. Overall, the construction and software integration of this submarine reflect a thoughtful approach to ecological data collection and analysis, balancing structural integrity with functional performance.the rest of the pictures show the construction of the sub. It was made out of two C channels connected by an aluminum sheet. A skid was added to the bottom to allow the sub to skate over the bottom to gather quantitative video samples of the ecology. The skid and two C channels (necessary to hold the large # of sensors desired) was a little heavy so the sub had trouble moving up and down using it`s one vertical motor (although there is a fourth small motor in the diagram, we never added that). You should definately be able to make the body a lot lighter so that a single vertical trolling motor will be fine.

-SmartConsole. bas is a QBasic program that runs in DOS or win3. 1 It`s an interface that takes data from the subs sensors and displays them graphically on the screen (tilt, yaw, etc) -SmartSea. bsx is a basic program that runs on the BSX basic stamp (while building the thing I used a BSX, I put another basic stamp in the diagram because the bsx had one too few pin for sensor interfaces)

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