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Autonomous Flapping Underwater Robot: Solar Ray Sensor Demo

The Solar Ray project is focused on developing an autonomous underwater robot named Solar Ray, which mimics the motion of a flapping wing to navigate underwater. It is designed to swim, avoid obstacles, capture video footage, and recharge automatically using solar energy. Capable of performing dives up to 10 feet deep for two hours, this innovative robot is constructed from commercial-off-the-shelf (COTS) components. Key features include obstacle avoidance sensors, video recording capabilities, and a streamlined design for efficient electronics access.

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Autonomous Flapping Underwater Robot: Solar Ray Sensor Demo

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  1. Solar Ray Special Sensor Demo Hawkeye D11S Depth Sounder Robert Loverdlove@ufl.eduUniversity of FloridaDepartment of Mechanical and Aerospace Engineering EEL 5666C – Intelligent Machines Design Lab A.A. Arroyo, E.M. Schwartz, M. Pridgen, T. Vermeer

  2. Solar Ray - Project Goals • Autonomous Underwater Robot • Swims by Flapping • Avoids Obstacles • Obtains Video, Stores on SD Card • Automatic Recharge with Solar Energy • 2 hour Dive, 10+ ft deep • Quick Access to Electronics • Built with COTS Components Cownose Ray: http://vimeo.com/7697526 http://www.roperresources.com/images/sauv.jpg http://www.drives.co.uk/images/news/Festo%20ray.jpg

  3. Solar Ray Robot Status DVR Weight Tuning PV Board, LCD CdS Cells On/Off Switch Programming Extension Battery Packs (Up to 30 AA’s) Flapping Ctrl Hawkeye D11S Depth Sounders AOA Tuning Bullet Camera (720x480,110min) Pitch/Yaw Ctrl

  4. D11S Demo

  5. D11S Demo

  6. Integrated Electronics

  7. Solar Ray -Hardware • Microcontroller • Pridgen-Vermeer Board, LCD, 2 Debug LEDs • Power • 1x 12V 30Ah , 1x 6V 15Ah Energizer Battery Pack • 1 Powerfilm R15-30 Solar Charger (300 mA) • Sensors • 2x Bump Sensors: Reset, Pause Program • 1x CdS Cell: Presence of Light • 2x D11S Hawkeye Depth Finder: Obstacle Avoidance • 1x CMUcam3: Record Video • Actuation • Flapping Wings: 2 Hitec HS-7950TG Servos (486 oz-in) • Tail: 2 Traxxas 2075 Waterproof Servos (125 oz-in)

  8. Solar Ray - Conceptual Design

  9. Solar Ray – Initial Fabrication • Main Unit Top View With And Without Solar Panel

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