ROVing Otter

A web-controlled UNDERWATER ROBOT for ocean education and research

PROGRESS LOG for SEPTEMBER 2004

Based on recommendations from the experts, Dr. Moore began to order parts, so he could start experimenting with web control of devices.

One critical piece he needed was an Embedded Ethernet Controller, which is a device that provides the translation between Internet data packets and the electrical signals used to control the motors, sensors, and other electronics on the ROV. This piece will be the "brains" of the ROV, controlling ROV functions in response to user commands sent over the web, and relaying video images and other data back from the ROV to the user. After researching several dozen possible candidates, including a number of embedded PCs, Dr. Moore narrows the list to two prime candidates: The TStik by Systronix, and the RCM3700 by Rabbit Semiconductor. The TStik is relatively low cost, and it's programmed with the Java programming language, which is available for free from Sun Microsystems and designed to work with computer networks, so the TStik seemed a sensible first choice. Dr. Moore first ordered a Systronix TStik and spent most of September learning the Java programming language, so he could program the TStik when it arrived (which it did near the end of September).

He also ordered a number of other parts needed to start testing various ROV systems, including an Axis 205 network camera, DeWalt gear motors, and a Garmin GPS unit that can interface directly with a microcontroller for ROV navigation. The gearmotors turned out to be good for the boat propulsion, but overkill for the sub, so he ordered some smaller motors for the sub.

During this month, a Smithy BZ-239 metal-working lathe, which was not getting used in its former setting, got moved into the lab for this project. This was a major milestone, as this project requires a large metal-working lathe like this to put threads on propeller shafts, to cut o-ring grooves for pressure-proof underwater motor housings, and to perform many other custom machining operations. Without this convenient access to a lathe, the project would take much longer. A few missing accessory parts, oil, and safety goggles were ordered, so the old lathe could be put back to work.

Also during September, Dr. Moore met with Alan Friedman (CIO of California State Parks) and Chuck Bancroft (Ranger at Point Lobos) to discuss the particulars of operating the ROV at Point Lobos State Reserve. Alan agreed to look into getting high-bandwidth Internet access installed at Whaler's Cabin. (see ROVing Otter Dive Locations)

Continue to Progress Log for October 2004