Final Design

The final design of the AUE is a 5 L system that employs two actuation systems to actively control depth and buoyancy simultaneously. By sourcing commercial off-the-shelf (COTS) components, the final design drastically reduces both manufacturing and labor costs, and allows for easier reproducibility. A Firgelli Automations linear actuator controls a piston using feedback from an external pressure sensor as well as a built-in potentiometer. With the feedback, the piston can be extended or retracted to specific positions, allowing for active control of the volume, and therefore buoyancy, of the system. Two Blue Robotics T100 thrusters are attached to the sides of the watertight housing to give vertical thrust control and allow for depth holding. A 0.1016 m (4 inch) inner diameter acrylic tube sourced from Blue Robotics houses the linear actuator as well as the electronic components. An Arduino MKR1000, 10A DC Motor Driver Arduino Shield, two electronic speed controllers, and an external pressure sensor are used to control the system with multiple closed loop feedback systems.

CAD Model