Design and Fabrication of unmanned underwater vessel

Project Title

Design and Fabrication of unmanned underwater vessel

Project Area of Specialization Mechatronics EngineeringProject Summary

The presented project involves the design and fabrication of unmanned underwater vessel (UUV). The UUV is a watercraft which has the ability to operate beneath water surface independently. These vessels are mainly cylindrical in shape with hemispherical or conical ends. The design of project is carried out in CAD software (Creo 5.0) and the fabrication is done by using 3D printer. The project describes a design concept and prototype implementation of UUV. The proposed UUV have ability to move under water. The UUV model consists of four rudders which are connected using three servomotors. Two servomotors are used for up and down movements, while one servomotor is used for left and right movements. The one brushless DC motor is also used which is connected with the fan to produce the thrust. The whole design of UUV is being controlled by using STM32F103C8T6 Microcontroller. The stabilization of the UUV is achieved by using IMU sensor along with the water suction and removal mechanism through water pumps. Furthermore, the metal detection sensor K1208065 is interfaced with the microcontroller for the detection of metals.

Project Objectives

The main objectives of the project are listed as follows:

• Design of UUV using CAD software (Creo 5.0 Version)
• Fabrication of UUV using 3D printer
• Stabilization of UUV using IMU sensor (MPU6050)
• Implemetation of water suction and removing mechanism using water pumps
• Interfacing of wireless serial port module (HC-12) underwater communication system to control the UUV in real time
• Detection of metals using metal detector sensor (K1208065)

Project Implementation Method

The implementation methodology of this project includes the calculations of thrust required to move the UUV on the surface and under water. The project involves the stabilization and control of UUV using STM32F103C8T6 Microcontroller and IMU sensor (MPU 6050). The proposed UUV will suck water to dip into the water through suction pump mechanism. Three servomotors are connected with four rudders to move the UUV from 0 degree to 180 degrees. Moreover, the brushless dc motor is controlled by STM32F103C8T6 Microcontroller using PWM to produce thrust in the opposite direction.

Benefits of the Project

Following are the major applications and benefits of our project:

• The proposed UUV can be used for detection of metals under water
• It can be used for search and rescue operations
• Monitoring of Fiber optics cables under the water
• UUV can be used to search the drowning people without spending time
• It can be used in the areas such as reconnaissance, in which UUV’s can potentially become an integral part of seagoing vehicles.

Technical Details of Final Deliverable

1. STM32F103C8T6 Microcontroller

Following are the technical specifications of STM32F103C8T6 Microcontroller:

• The devices operate from a 2.0 to 3.6 V power supply.
• 32-bit RISC core operating at a 72 MHz frequency
• High-speed embedded memories. Flash memory up to 128 Kbytes and SRAM up to 20 Kbytes.
• Two 12-bit ADCs, three general purpose 16-bit timers plus one PWM timer
• Advanced communication interfaces: up to two I2Cs and SPIs, three USARTs, an USB and a CAN

2.Servo Motor

Technical specifications of servo motor (MG996R) :

• Weight: 55 g
• Dimension: 40.7×19.7×42.9mm
• Operating voltage range: 4.8 V to 7.2 V
• Operating speed: 0.2 s/60º (4.8 V), 0.16 s/60º (6 V)
• Rotational degree: 180
• Current at maximum load: 1200mA

3.Brushless dc motor (BLDC)

Technical specifications of BLDC (A2212):

• Diameters as small as 12.7 mm.
• Speeds up to 100,000 rpm.
• High motion efficiency.
• Ability to withstand harsh environments.
• Increased motor life.
• High acceleration.
• High power/weight ratios.
• Sterilization (available in slotted designs)

4. IMU Sensor

Technical specifications of IMU sensor (MPU6050):

• Chip: MPU-6050
• Power supply: 3~5V Onboard regulator
• Communication mode: standard IIC communication protocol
• Chip built-in 16bit AD converter, 16bit data output
• Gyroscopes range: +/- 250 500 1000 2000 degree/sec
• Acceleration range: +/- 2g, +/- 4g, +/- 8g, +/- 16g
• Pin pitch: 2.54mm

5. Electronic speed controller (ESC)

Technical specifications of ESC (40A):

• Constant Current: 40A
• Burst Current: 60A
• Size: 45 x 30 x 17mm
• Weight: 36g

6. Lipo battery

Technical specification of lipo battery:

• Minimum Capacity: 2650 mAh
• Configuration: 4S1P / 14.8v / 4Cell
• Constant Discharge: 20C
• Peak Discharge (10sec): 30C
• Pack Weight: 265g
• Pack Size: 137 x 44 x 22 mm

7. Metal Detector 

Technical specification of metal detector (K1208065):

• Depth range from 25 to 30 cm

8. Wireless Serial Port Module

Technical specifications of wireless serial port module (HC-12):

• Its wireless working frequency band is from 433.4 MHz to 473.0 MHz
• It has a total of 100 channels with a stepping of 400 KHz between each channel
• Transmitting power is from -1dBm (0.79mW) to 20dBm (100mW)
• Receiving sensitivity is from -117dBm (0.019pW) to -100dBm (10pW).

Final Deliverable of the Project HW/SW integrated systemCore Industry SecurityOther Industries Education Core Technology Artificial Intelligence(AI)Other Technologies 3D/4D Printing, RoboticsSustainable Development Goals Industry, Innovation and Infrastructure, Life Below WaterRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	49400
STM32F103C8T6 (Microcontroller)	Equipment	2	400	800
Servo Motor (MG996R)	Equipment	4	650	2600
Brushless DC Motor (A2212)	Equipment	1	4500	4500
Electronic Speed Controller (40A)	Equipment	1	2500	2500
Water Pumps	Equipment	2	250	500
IMU Sensor (MPU 6050)	Equipment	2	300	600
Metal Detector Sensor (K1208065))	Equipment	1	300	300
Lipo Battery	Equipment	1	4000	4000
3D printing	Equipment	1	26000	26000
Wireless serial port module (HC-12)	Equipment	2	800	1600
others	Miscellaneous	1	6000	6000