Created by Lim, Matthew, last modified by Herr, Jess on Feb 25, 2020

Bryson Wall - bewall2 - ECE 120

Jess Herr - jjherr2 - ECE 120

Matthew Lim - mlim29 - ECE110

Abby Mohan - ammohan2 - ECE 110


Statement of Purpose

Our goal is to make a small submarine capable of moving in multiple directions and controlled through wireless remote through bluetooth. The submarine will be able to turn on a light if a photo sensor senses the absence of surrounding light. Goals for the project would be creating the casing and the motor mechanisms to propel the submarine. Also, using Arduinos and circuits to create the wireless remote and the inner electronics of the submarine. The unique goal would be to not only wirelessly control the submersible, but also to create a device that would be able to be waterproof.



Background Research

We have looked at many types of submersible formats and structures as well as looking at different materials to make the submarine shell out of like PVC or acrylic pipes. We’ve looked into different motors and different Arduinos as well. Our motivation for this project is to use what we’ve learned in ECE 110 and 120 in order to make a functioning and sensing vehicle under the constraints of water. The concept of creating a small wirelessly controlled submarine can have many implications for future adaptations like adding a camera and lights in order to explore small underwater enclosures.Our project is unique in that it is made with the goal of interacting with water. 

Example of an underwater sub: https://www.youtube.com/watch?v=f5mUe2oyuTU

Motors and Powering them: https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/



Block Diagram/Flow Chart




System Overview

  1. Motor - Motors will control how the submarine moves. The back two motors will control forward, backward, and side to side. The front motor will contribute to those, and also to up and down.
  2. Breadboard - Acts as the base of operations for the submarine. The power and control will flow through the breadboard
  3. 12V Battery - Powers the arduino and breadboard
  4. Light - Turns on when the submarine's environment is dark in order to illuminate the area around it (likely and LED)
  5. Arduino - Holds code that tells the motors what to do
  6. Mosfet - Helps power the motors
  7. Photosensor - Detects light changes, such as light deprivation, and allows current to flow to a light
  8. Chip - Controls the inputs and outputs that the motor goes through


Parts

  • FLEX SEAL CLEAR ($12.99) or Potting Epoxy ($29.58) –- Newark Electronics

  • 2 ARDUINO NANO 33 BLE WITH HEADERS ($21.00) +

  • PVC/3D-Prints/Acrylic Pipes/Plastic Container? (For remote and for submarine shell) (Price Varies)


  • 5 Motors (12 Volt DC Motor, 740mA, 0.091" Shaft Diameter -- Jameco Electronics ($3.49)

  • 5 Plastic Propeller, 1/8" Shaft Size, 1-3/4" Blade Diameter -- Graves RC ($1.20)

  • 5 Propeller Shaft Threaded Coupler, 4-40 Thread -- Graves RC ($2.25)

  • 5 Threaded Insert Tee Nut, 4-40 Thread Size -- McMaster Carr ($11.43)

  • 5 Nylon-Insert Hex Locknut 4-40 - Stainless Steel -- McMaster Carr ($3.61)


  • Photo sensor (~$1.00)

  • LED or other light source

  • 2 HiLetgo HC-05 Wireless Bluetooth RF Transceiver Master Slave Integrated Bluetooth Module 6 Pin Wireless Serial Port Communication BT Module for Arduino -- Amazon ($7.99)

  • Silicone grease or Wax Bowl Ring -- Home Depot ($1.95)

  • Hot glue and other adhesives

  • 2 Switches
  • 3 Buttons
  • 2-3 Breadboards



Possible Challenges

  • Preventing water from leaking inside the motors and the submarine

  • Creating a wireless remote

  • Creating a structure for the submarine that allows is to move in multiple directions using motors

  • Fixing or adjusting the speed of the motors

  • Handling the heat created



References

[1]"Underwater Vehicle Types", Dive & Discover, 2020. [Online]. Available: https://divediscover.whoi.edu/underwater-vehicles/three-types-of-vehicles/. [Accessed: 14- Feb- 2020].

[2]"SeaPerch Parts List", SeaPerch, 2020. [Online]. Available: https://www.seaperch.org/Parts_List. [Accessed: 14- Feb- 2020].

[3]"Arduino DC Motor Control Tutorial - L298N | PWM | H-Bridge - HowToMechatronics", HowToMechatronics, 2020. [Online]. Available: https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-pwm-h-bridge/. [Accessed: 14- Feb- 2020].

[4]S. Brown, Arduino Bluetooth Submarine. YouTube: YouTube, 2020.

[5]"Arduino Remote/Wireless Programming and Homemade Power Bank", Arduino Project Hub, 2020. [Online]. Available: https://create.arduino.cc/projecthub/xreef/arduino-remote-wireless-programming-and-homemade-power-bank-c38bd1. [Accessed: 15- Feb- 2020].


Attachments:

Untitled Diagram.jpg (image/jpeg)

Comments:

Are you planning on using a phone app to communicate as the remote or were you going to build a physical remote? If the latter, please be sure to update your BoM with the required materials (ie. second arduino, another BT module, etc.)

I think your project is somewhat challenging (especially if you plan on waterproofing and running it underwater), but definitely doable if you spend enough time on it.
Posted by jamesw10 at Feb 15, 2020 19:50

The most challenging part would be making it waterproof. We do have some waterproof boxes in our inventory if you need them. I can direct you to the ACM water submarine team EE lead if you need some guidance.
Posted by yuchenc2 at Feb 16, 2020 02:45

Thanks Johnny! Please reach out to local subject matter experts in this area for help as Johnny said.
Posted by fns2 at Feb 16, 2020 13:32

Sounds like a good project idea and I like the start of the parts list. Once you get in contact with some other people from the ACM water submarine team I would keep this page updated as a reminder to us and yourselves on what parts you may need.
Posted by dbycul2 at Feb 16, 2020 22:23

Good project!  Underwater control can be messy I've heard, small (water) currents can really make you move in unexpected ways. Make sure you have a way to account for unexpected drift in multiple directions (smile)
Posted by weustis2 at Feb 16, 2020 23:03

Approved Feb 20th
Posted by fns2 at Feb 20, 2020 19:08