_1BallestTank log

Check out this link if you want to see day by day updates to the code step-by-step. I use this remember what I need to do next what I have done what I am doing.

 https://docs.google.com/document/d/1WbHuAKNx37og5TZgPzxtCpS8VbajrMFgU-ae3QmPHjg/edit?usp=sharing

Updating code

After talking his friend about simplifying my code he gave some suggestions I am now implementing this is the link to my new code. It is still a work in progress and later on will be more simplified.

Table of analog water level sensor

I have been having an unforeseen problem. When my analog water level sensor isn't connected I get sporadic readings. 

Anything over 100 sends me an alert that there is water in the pressure hull. I think this can be salved by adding a 1 mega ohm between data and ground pin.

Arduino code update

I have made some updates to the Arduino code. I changed the water sensor from digital to an analog pin 7. I also changed my relay to a solid state relay with that changing some of the pins. It may have been unnecessary to change some pens, for there was a mistake in my code which led me to believe I burnt a pan out. Whenever the code is updated I change the date to the most current update on the first line of the code just for your information. Here is the link to my code.

Solid-state relay

Solid-state relay

I confess this is not the best fit together circuit, but it works. This provides two channels I will need 4 channels I will just duplicate the same circuit twice.

The 2n222 transistor is an interrupt. My microcontroller writes 1 to all digital pens upon startup. The interrupt grounds the pins to my channels to prevent the relay from switching.

The op amp LM358P may be unnecessary if you're microcontroller's pins are above 4 V. The UDOO I/O are only 3.3 V thus I require an offense. If you use a different MOSFETs that may also do the trick.

The transistor 2n222 overrides all the channels. When the microcontroller is turned on it writes 1s to all the pins. The overwrite prevents fat.

Ballast tank dilemma!

The last few days I've been concerned about a design flaw in my schematic for my rough draft final sub. Boyle's law states when you're absolute pressure doubles your volume is how. My hypothesis is as the submersible is ascending from the depths the volume of the air may expand at a faster rate than my small solenoid valve can release; this would lead to unpredictable behavior, and the loss of vertical control.

As I was trying to sleep at 2 AM it occurred to me that he ballast tank does not need release air being piped through the pressure hall. There is not too much thought put into my original plan concerning this one matter. My internal solenoid valve is capable of holding a difference of 750 psi, however the difference between top of the ballast tank in the open water will be my new, thus allowing for a solenoid that allows more flow. The internal ballast tank had a restricted flow in order to handle the great pressure. The new solenoid valve which will be in the pressure hall itself will not have the same restriction.

Here is the lowest section of my submarine, with this being a temporary project to test different forms of ballast tanks mainly; compressed air ballast tank, Kevlar bladder syringe, and chemically produce a non flammable gas.

There are two solenoid valves the second facing you with the red dot and the first just to the right facing away from you. These valves receive air from the compressed tank. The second solenoid valve releases compressed air into the ballast tank and the first discharges air from the ballast tank. Opening and closing the valves in the right sequence will add or remove air from the ballast tank, thus changing the average density of the submersible. 

There are also two sensors in this picture. A pressure sensor just to the left of the second solenoid. It reads the pressure being released from the compressed air tank. The other sensor is hard to see in this picture, it is by this right and lowest part of the structure. There is a smaller red strip, this is to sense the presence of water. 

In the later test there will be a nether solenoid valve to add an release air from the pressure hull. In the case of water being detected this additional solenoid valve will release air into the pressure hull, hence creating a higher pressure in the hull reversing the flow, at least minimizing or prohibiting the invasion of water. 

In the case of a flood this section is unlikely to be damaged, one of the reasons it is the lowest part, and another reason to maximize the distance between the solenoid valves and my microcontroller, which received interference.

This section directly above the last has a grounded metal plates with two power strips attached, positive and negative. The negative is connected to chassis ground. Directly preceding are the two nickel metal hydride batteries in series in order to create a potential of ~15 V, in the event of a short-circuit there currently a 7 amp fuse . Above the batteries is a circuit box containing a four channel solid-state relay. I will show how about that in a later post.

In a nether addition I will be running with a different battery, higher voltage and higher amp year. I will have a 24, and 12 v regulator and booster.

This is the most open and least developed section of the sub. In mid-view there is a variable pressure regulator. I do not know of an affordable electronic pressure regulator so I have a mechanical regulator which uses an Allen wrench. It is likely I will use a stepper motor with a series of gears in order to change pressure according to death. It will also serve as an emergency override, this regulator can range from 0 to 750 psi.

To the left of the previousley discussed variable regulator is the pressurized air tank which runs at 4500 psi by an internal regulator this is neck down to 700 psi.

Directly above the compressed air tank you see my computer housing, this will not be discussed in detail here. All I will say for now, a UDOO microcontroller is partially encapsulated by a 3-D printed shell. The shell is open on the bottom to allow ventilation, in the case of the flood will be protected by the shell and the bubble held within.

The gizmos and gadgets you see are not in place. They will be held in the small void above the computer case there will be two protrusions that will leave the top of the sub, to fill and empty the ballast tank. Later on there will be a third which will allow a liar several terminals for more sensors. For now my external pressure gauge will be a inside reading pressure outside which is the black knob you see on the bottom of this picture. The pressure in these types will be equal to the external pressure is allowing me to read the external pressure from the inside with the exception for the brief moments when I am filling and releasing the ballast tank.

I have been quite vague and most of this post, I will be happy to answer any questions.

Which is worse missing screw or a missing pipe

As I was correcting a mistake I made I discovered, after the matter, that I had an extra tube left over. Generally the device will work missing one screw, however I'm sure the pipe may not be as lax concerning the matter.

Some new progress

Most recently I have had problems with a noisy ground. I have made some progress by maximizing the distance between my computer (UDOO) and the solenoid valves, also changing some wires, and more. I will be updating in more detail soon.

DC to DC converter

I just received my power converter. This power converter converts the voltage I received from a battery to the required voltage for my computer system. I got it on eBay for quite a deal is only take a couple more months to come when he does this kind of price. It is Buck Module 24V 12V 9V 5V DC to DC 4V-38V to 1.25V-36V 5A Step Down Power Supply (Click)

I'm in the process of creating a printable mount when I am finished you can get a link to the printable design here 123D or STL will be a available shortly.


Here is the measurements if you want to make your own mount.

Some needed modifications

With preparations for the buoyancy test has had some modifications. I'm not finished these mods, what I am doing as rearranging the different layers seen in my sketch. My computer system is now going to be near the top of the submarine in my solenoid valves will be as far away as I can get them; at the bottom of the submarine. I have extended my frame another 11 inches in order to accomplish that in my weight to obtain near zero buoyancy will be just above. Not updated the sketch yet because I have some unresolved trivial scenarios to think of that may prove to be vital. This is where I'm at right now

References and downloads

I have created a Google Drive folder that is open to the public to view. There is also a folder called 'Upload' where you can upload suggestions and ideas. Here is the link to the online drive:

https://drive.google.com/folderview?id=0B-xoqm6uv8hfY3M3RzM2Zk0yZGc&usp=sharing

Note: any 'Upload'(s) can be viewed by others and may be posted in the notebook. If you which otherwise let me know.

UDOO silhouette

Udoo.com

The black dots are square hole with a radius of 1.5mm