UNMANNED UNDERWATER SURVEILLANCE ROBOT

A Term Project Report Submitted to the Undergraduate School of Engineering and Sciences of İzmir
Institute of Technology in Partial Fulfillment of the Requirements for the Degree of

ME 402
ENGINEERING DESIGN in Mechanical Engineering

UNMANNED UNDERWATER
SURVEILLANCE ROBOT by Erkmen KARACA
Candaş TURHAN
İsmail GÜNGÖR
Cemal Özer ÇEKER
Barış BAĞDADİOĞLU
Anıl Özgür KAVİLCİOĞLU
Alparslan BİLGİN
Bekir UYSAL
Özgün İLOĞLU
İbrahim HİCAZLIOĞLU

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Table of Contents
1. Abstract
2. Introduction
3. Design Criteria & Constraints
4. Work Breakdown Structure
5. Linear Responsibility Chart
6. Gannt Chart
7. Motors & Propellers
8. Water Isolation
9. Stabilization
10. Electronics & Control
11. Body Frame
12. Manufactured Parts & Processes
12.1. Aluminium Body
12.2. Delrins (Back & Front)
12.3. Delrins (Motor & Legs)
12.4. Poly (Methyl Methacrylate)
12.5. Legs
13. Calculations
13.1. Gravity & Buoyancy
13.2. Pressure & Force
13.3. Heat Transfer
13.4. Acceleration
14. Tests & Evaluation
14.1. Bilge Pump Water Resistance Test
14.2. Bilge Pump Power & Propeller Test
14.3. Frame Impermeability Test
15. Budget
16. Conclusion
References
Appendix

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List of Tables
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Linear Responsibility Chart of the project
Gannt Chart of the project
Control Flowchart of Robot
Solidworks Calculations
Budget & Financial Information of Project

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List of Figures
1. Remotely Operated Vehicle (ROV)
2. Work Breakdown Structure (WBS)
3. Bilge Pump
4. Bilge Pump (Head cut off)
5. Thruster with 60 mm diameter
6. Thruster with 90 mm diameter
7. Electric Tape
8. Poly Max Silicon
9. Epoxy Glue
10. Grease
11. O-rings
12. Control Schema
13. Schematic diagram of an ESC
14. Marine Brushed Speed/Control (w/Reverse)
15. THK Brushed Speed Controller (ESC)
16. Circuitry of PWM