Problem StatementThe deepest point recorded by man is 1082 feet (332 meters) below the surface of the ocean, which happens to be as deep as water gets on earth. To go deeper, it’s extremely dangerous for man to dive below a few hundred feet. Below that depth, a high-pressure nervous syndrome can infected with, which is a neurological disorder, it can lead to somnolence and tremors. Breathing nitrogen and oxygen at depths below 300 feet can also cause syncope and even death. We must surface gradually to avoid decompression sickness that is caused by nitrogen bubbles expanding and becoming stuck in vital organs. Oceans are not well explored relatively to earth masses due to depth limitation for man diving, which was a barrier for scientists to make researches till they develop submarines which can go deeper.
Mini submarines are the main vehicles that can be used for such applications, researches, and to perform work which is too dangerous for divers, such as on an oil rig. General overview of the project The aim of this thesis is to shed light on a new device with all its aspects, which may affect the public from different perspectives – such as civil or military. Therefore, the objectives of this work can be summarized by: Designing and manufacturing of a mini submarine craft and discussing their advantages and limitations as structural design and arrangement, stability of a submarine, the systems used in a submarine. To contribute a perform underwater operations for a stipulated amount of time. Programming and controlling our mini submarine using Raspberry Pi 3. System interface of mini submarine using web platform (HTML-PHP-CSS-PYTHON- ANGULAR JS) Communicate system based on Ethernet over fiber-optics or twisted pair Ethernet cable.
Thesis outlineThe remaining of the first part of this thesis consists of the following xxx chapters. Chapter 2. Chapter 3. Chapter 4 System DesignDesignFlow Diagrams Figure ?2.1 Submarine Flow DiagramElectronics System Figure ?2.2 Electronics System Flow DiagramCommunication System Figure ?2.3 Comunication System Flow DiagramMechanical System Figure ?2.4 Mechanical System Flow DiagramFlow ChartsSchematicEquationsComponentsRaspberry Pi 3 The Raspberry Pi 3 Model B is the latest Raspberry Pi Foundation single board computer with a quad core 64 bit ARMv8 CPU operating at 1.
2GHz. It is almost twice as fast as the outgoing Raspberry Pi 2 Model B in many benchmarks. Figure ?2.
5 Raspberry Pi 3Features 1: Quad Core 1.2GHz Broadcom BCM2837 64bit CPU 1GB RAM BCM43438 wireless LAN and Bluetooth Low Energy (BLE) on board 40-pin extended GPIO 4 USB 2 ports 4 Pole stereo output and composite video port Full size HDMI CSI camera port for connecting a Raspberry Pi camera DSI display port for connecting a Raspberry Pi touchscreen display Micro SD port for loading your operating system and storing data Upgraded switched Micro USB power source up to 2.5A Brushless Motor Figure ?2.6 Waterproof Brushless MotorJrelecs 3665 2600KV RC Brushless Motor 4 Pole Sensorless Waterproof 5.0mm Shaft. Specification 2: Max Power: 1200W Max Voltage: 18V Max Amps: 66A Rotor Poles: 4 Max RPM: 60K Length: 60mm Diameters: 36mm Weight: About 195g Shaft: ?5mm Length of Extend Shaft: 17mm ESC Brushless Electronic Speed Control Figure ?2.7 Waterprrof Electronic Speed ControlWaterproof 45A RC ESC Brushless Electronic Speed Control Features 3: Build in 5.
8V/3A BEC Continue current: 45A Peak current: 240A BEC output: 5.8V / 3A Power supply plugs: T plug male Motor plugs: 4mm banana plug female Dimension: 50 * 35 * 34mm Drive Shaft Figure ?2.8 Shaft DriveA drive shaft is a tool used to transmit torque and rotation.
Features 4: Propeller diameter : 60mm Shaft diameter : 4 mm Bushing outer diameter: 9.5 mm, bushing is mounted with 2 bearings inside MPU-9250 Figure ?2.9 MPU-9250The MPU-9250 is a 9-axis Motion Tracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP) all in a small 3x3x1mm package.
Features 5: Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) Digital-output triple-axis accelerometer 3-axis silicon monolithic Hall-effect magnetic sensor with magnetic concentrator Gyroscope operating current: 3.2mA Accelerometer operating current: 450µA Auxiliary master I2C bus for reading data from external sensors 3.5mA operating current when all 9 motion sensing axes and the DMP are enabled 400kHz Fast Mode I2C for communicating with all registers 1MHz SPI serial interface for communicating with all registers Pressure Sensor Figure ?2.10 Pressure SensorFeatures 6: Pressure range 0-0.5 MPa Wide range of temperature compensation Medium for non-corrosive gas, water, oil, etc..
. Working Voltage: 5.0 VDC Output Voltage: 0.
5-4.5 VDC Working Current: <=10 mA Temperature Sensor (DS18b20) Figure ?2.11 Waterproof Temperature SensorThe DS18B20 digital thermometer provides 9-bit to 12-bit Celsius temperature measurements and has an alarm function with nonvolatile user-programmable upper and lower trigger points. The DS18B20 communicates over a 1-Wire bus that by definition requires only one data line (and ground) for communication with a central microprocessor 7. Features 7: Unique 1-Wire® Interface Requires Only One Port Pin for Communication Waterproof Power supply range: 3.0V to 5.5V Operating temperature range:-55°C to +125°C Accuracy over the range of -10°C to +85°C: ±0.5°C Ultrasonic Sensor Figure ?2.12 Ultrasonic SensorFeatures 8: Farthest distance: 4.5m Operating voltage: DC 5V Quiescent current: 5mA Total current work: 30mA Acoustic emission frequency: 40 KHz Resolution: about 0.5cm Angle: less than 50 degree IP Camera Figure ?2.13 IP CameraFeatures 9: High sensitivity, high signal-to-noise CMOS image sensor Up to 720P(1280*720) resolutions support multiple network protocol H.264 Compression Operating voltage: DC 12V Manual Varifocal Zoom Lens 2.8-12mm Diving Flashlight Figure ?2.14 Diving FlashlightFeatures 10: Underwater flash light Lumen:3800 Light Source: LED Bulbs