trident AUV

---

 Starting up  - 1/5/21
After downloading the files from the Amethyst website, we had to convert them for printing on our  Flashforge Finder 3D printer.  We then started printing the parts for the stern section of the AUV. 

3D Printing!  -- 1/8/21

We've finished many of the 3D printed parts for the stern and main sections of the AUV.   The larger parts take a LONG time to process -- some more than 6 hours each.

Starting to assemble the main fuselage  - 1/12/21

The main section of the AUV (the fuselage) is coming together.  We have the bottom section assembled and ready for attaching the stern section, which we are working on next.

Stern section including main drive motor  - 1/26/21

We've completed printing and assembling the main stern section, including the motor drive and prop assemblies.  We need to add the dive planes and rudder assemblies to complete this section of the build.

Most mechanical pieces printed  - 2/5/21

Almost all of the mechanical parts have been 3D printed with the exception of the antenna mast and the GPS mast.  We are checking parts for fit and getting ready to move onto the final details on the dive planes / rudder.

Comm masts installed  - 2/10/21

We've printed and installed the Bluetooth antenna mast and the mast used to hold the GPS receiver.  We've also waterproofed the GPS receiver and installed it on top the the mast in preparation for electronic assembly.

Control servos installed  - 2/12/21

The servos that drive the dive planes and the rudder have been installed into the stern section.

Initial architecture - 3/10/21

We are creating a unique electronic / firmware platform for our version of the AUV.  It is based on the Particle Argon module, which gives us both on-board WiFi and Bluetooth radios.   WiFi will be used for file transfer and Bluetooth will be used for point-to-point communication between the AUV and a host (PC, smartphone, or tablet) when it is on the surface.  In addition, we've added a digital compass/accelerometer, a SD Card interface, and the interface to the GPS receiver.

PCBs being brought up - 5/13/21

We've completed the initial electronics design for the AUV and have spun our first printed circuit boards. The boards are about 5" x 1.5" and will mount to our "sled" that is designed to slide into the waterproof acrylic tube in the AUV.

Initial system check - 7/20/21

Since our last update, we  have completed the printed circuit board checkout and have verified all remote (motor, servos, GPS, and depth / temp sensor) device operation.  We also have verified the on-board microcontroller/memories, digital compass, and SD memory card operation.

We also have completed a "sled" design that houses the PC board inside the waterproof acrylic housing.  The sled allows us to easily position the board in the vehicle as needed.

Next up is finalizing the rear acrylic tube plug with the cable routing/waterproofing.  After that, we need to conduct a ballast test to insure that the vehicle will float correctly and will maintain position while underwater as well as on the surface.  

Then there is a fair amount of code to write to create the ability to accept a mission profile over the Bluetooth radio  and then have the vehicle execute it without any user intervention.

Today, we conducted our first water trials with the AUV. While operating on the surface, we ran different courses to verify buoyancy, ballast, and controls for turning, diving, and surfacing. All in all a successful day. Next we will begin to write the on-board code to conduct a fully automated mission while the vehicle is underwater. #AUV #underwater #exploration 

11/2/21 -- This week we conducted some additional water trials with the AUV.  After changing the ballast weight and location from our first trials, we can now successfully cause the AUV to dive and to surface based on the position of the dive planes.  Still some fine tuning needed, but we are getting close.