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Design, Development, and Fabrication of a Low Cost Remotely Operated Unmanned Underwater Vehicle

The article presents the design, development and fabrication of a low cost tethered Remotely Operated Unmanned Underwater Vehicle (ROV-I) capable of operating up-to 1 m/sec with a depth rating of 20 meters. ROV-I comprises of many mechanical (open frame and hull) and electro-mechanical subsystems such as: thrusters, on-board data acquisition system, communication protocol, power management and underwater electrical wires/tether management systems. A dual core processor from Texas Instrument acts as a master computer to control the vehicle and its subsystems. The 3 degrees-of-freedom ROV-I is also equipped with multiple sensors which provide real-time vehicle’s states information. A full duplex RS485 communication protocol is used to transmit and receive data. A dedicated laptop with a GUI act as a ground station, displaying important vehicle states in real-time as well as able to send pilot command signals to actuators.