[{"categories":[],"content":" Overview Designed a Remotely Operated Vehicle equipped with cameras, sonar, and environmental sensors for underwater exploration. The system features onboard computing for navigation, data analysis, and communication, along with electric thrusters and robotic arms for movement, object manipulation, and sample collection.\n3D Model GLB File\n3D Model Picture\nGoals This underwater vehicle assists in three current initiatives.\nOcean Observatories Initiative (OOI) to collect and deliver data to better understand the ocean, its complexity, and how it is changing as a result of natural and anthropogenic processes by assisting in the deployment of coastal arrays. Deployment of Science Monitoring And Reliable Telecommunications (SMART) Cables to collect and transmit temperature, pressure, and seismic acceleration data due to the under-sampled parameters for the deep ocean. King Abdullah University of Science and Technology’s Red Sea Research Center (KAUST RSRC) in healing diseased coral and promote healthy coral ecosystems using probiotic injection devices and underwater photogrammetry algorithms to assist in the study of coral reefs and their effects in their environments. Electrical The ROV’s electrical system is built around a modular backplane architecture that serves as the main connection hub for all onboard electronics. The backplane is a long printed circuit board (PCB) equipped with multiple female ports, enabling easy “plug-and-play” installation of up to six specialized PCB modules. This modular approach enhances mission adaptability, simplifies maintenance, and streamlines troubleshooting.\nEach connector on the backplane features three ground buses, three 12V buses, one 5V bus, and a GPIO pinout supporting up to 40 signal lines for communication and control. This configuration ensures stable power distribution and reliable data transfer across all modules.\nSchematics and all PCBs here: https://github.com/TQafko/ROV-Electrical-System Diagram of Electornics Power Management Board The ROV’s power management board distributes and regulates power across 48V, 12V, and 5V buses. It’s designed to minimize electrical noise and heat near sensitive components, isolate noisy signals, and provide efficient, reliable power delivery with built-in current monitoring for safety.\nThree voltage rails: 48V, 12V, and 5V Isolated 48V → 12V conversion to separate noisy and clean grounds EMI filter on 48V input improves signal quality and converter efficiency 12V → 5V non-isolated conversion shares common ground Power ratings: 12V – 100A, 5V – 7A Hall effect sensors with onboard ADC (I2C) for current monitoring Thruster Speed Controllers Thruster control is managed using ESCs (Electronic Speed Controllers) in the ROV. ESCs generate the necessary 3-phase AC signal to drive the T-200 thrusters. ESC PWM input signals are driven by two Programmable Counter Arrays (PCAs). The PCAs communicate with the Jetson Nano via I2C protocol. Status lights on the PCAs indicate real-time functionality, allowing visualization of any potential issues if the ROV is connected. The navigation algorithm commands the required PWM signals from the PCAs based on user joystick input. Mechanical The ROV’s mechanical design centers around a modular acrylic tube frame sized to accommodate the electronic assembly, including the upgraded Jetson Nano. The large 20.3 cm diameter tube increases the ROV’s weight and buoyancy but provides ample space for electronics and future modifications. This design allows for flexible arrangement of components, easier testing of prototypes, and improved adaptability compared to a smaller, more constrained frame. Overall, the mechanical structure balances robustness, modularity, and accessibility, supporting both current electronics and potential future upgrades.\nStructure and Frame The ROV’s frame is constructed from 6061 aluminum square tubes welded together, replacing the previously used HDPE to improve strength and stability. The TIG-welded aluminum structure supports all major components, including the electronics housing, propellers, sonar, and gripper. 316 stainless steel fasteners secure the components, providing excellent corrosion resistance for reliable operation in saltwater environments. This robust and durable frame forms the backbone of the ROV, ensuring structural integrity and long-term performance.\nElectronics Housing The ROV’s electronics are housed in a 20.3 cm diameter, 45.7 cm long acrylic tube with removable aluminum end caps, providing easy access for adjustments and component reuse. The larger diameter allows more space for electronic modules and multiple USB devices. Two front-end cap options are used: a dome cap for a gimbal camera to adjust viewing angles, and a flat cap to reduce light refraction for 3D mapping cameras. The tether cap at the rear secures PCBs, reduces vibration, and houses 26 penetrator holes for connections, including a vacuum test port and Ethernet access. This modular design simplifies assembly, maintenance, and waterproofing.\nPropulsion The ROV uses eight T200 Blue Robotics thrusters. Eight thrusters provide control in 6 degrees of freedom, improving rotation, stability, and accuracy. T200 thrusters are powerful allowing fast movements to complete challenges efficiently, at the cost of higher power consumption (7 A per thruster), which is accommodated by the electrical system. Side thrusters are at 45-degree angles, and vertical thrusters point downward, maintaining symmetry that aids PID control and reduces 3D printing costs for mounts.\nSoftware Camera Modules These compact camera modules are built around the Raspberry Pi 2W paired with a Raspberry Pi camera for perception. Three were placed in the ROV and all routed in a PoE switch. Each module features:\nA custom waterproof acrylic casing for underwater durability A front sealed with clear acrylic glue to maintain optimal lens visibility A 3D-printed back cap with an O-ring for a secure, watertight seal Power over Ethernet (PoE) breakout board for efficient power and data transmission through a single cable This design combines robust protection with easy maintenance and modularity, making it ideal for underwater robotics applications. Software https://github.com/WIT-IEEE-MATE-ROV/wurov2 Other Images of ROV ","permalink":"http://tediqafko.com/projects/rov/2024/2024/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"Water","RelPermalink":"/tags/water/"},{"LinkTitle":"KiCad","RelPermalink":"/tags/kicad/"},{"LinkTitle":"SolidWorks","RelPermalink":"/tags/solidworks/"},{"LinkTitle":"ROS","RelPermalink":"/tags/ros/"},{"LinkTitle":"Linux","RelPermalink":"/tags/linux/"}],"title":"2024 Underwater Rover"},{"categories":[],"content":" Project Overview The float is a semi-autonomous underwater device designed to quickly profile aquatic environments while sending real-time depth data to a surface station. Its compact waterproof housing, adjustable ballast, and stepper-driven buoyancy system make it both precise and robust for variable underwater conditions.\nDiagram of Components Figure 1. Diagram of electronics using a ESP32 as the main controller unit, a real time clock sensor for keeping timestamps, pressure sensors to measure depth in water, stepper motor and controller, an antenna, and alkeline batteries. Project Objectives Perform vertical underwater profiling semi-autonomously. Transmit depth and sensor data in real time to a surface station. Control buoyancy precisely using a stepper-motor-driven lead screw and adjustable weights. Ensure reliability and safety with waterproof housing and inline current protection. Maintain vertical stability through weighted ballast and adjustable syringes. Materials and Electronics Figure 2. Electronics Housing. 2.4 GHz Antenna MS2958 Pressure Sensor Air Pressure Valve On/Off Switch Electronics Unit (ELEC-NRD-004) 7.5A Fuse (ELEC-NRD-005) NEMA 17 Motor Syringe Barb Intakes O-Ring End Caps (ELEC-NRD-006) 3D Design Buoyancy Engine The buoyancy engine is a core component of the float, enabling precise vertical movement in water. It is actuated by a stepper-motor-driven lead screw, which adjusts the buoyancy by extending or retracting internal mechanisms to change the float’s overall density. This allows the device to ascend, descend, or maintain depth semi-autonomously during profiling tasks. Combined with adjustable ballast syringes and steel weights, the buoyancy engine ensures stable vertical orientation, while the waterproof housing and O-ring seals protect the system under water pressures up-to 1 meter depth.\nFigure 3. Image of the buoyancy engine ### Mechanics The waterproofing was achieved using two SLA-printed end caps, which eliminated the surface imperfections typically seen in FDM printing. Each end cap incorporates two silicone O-rings, lubricated every time the capsule is opened to ensure a tight seal. A pressure relief valve at the top allows the float to safely vent built-up internal pressure when submerging to greater depths. The bar intakes were epoxied to the bottom endcap to create a strong seal between the end-cap and end of syringes.\nFigure 4. The first is the top end cap that consists of the 2.4GHz antenna, the rotate switch valve, the pressure sensor, and the pressure relif valve. The middle picture shows the o-rings fitting in the tubing and the bottom of the barb intakes. The right most picture shows how the tubing between the barbs and the syringes is done with small pvc tubing and waterprofed with epoxy.\nDemonstration Video Figure 3. Demonstration of the float in action. When the float is at the surface of the water, it transmits the data it received underwater, mapping pressure and temperature. Software The code was written in both arduino and ESPIDF in C/C++. A front-end typescript interface made html calls to the server in the ESP32 which communicated data when the float was breaking the surface of the water. The data was a json formated file that inlcuded sensors and power levels of the hardware.\nThe software can be found on github here.\n","permalink":"http://tediqafko.com/projects/float/float/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"Water","RelPermalink":"/tags/water/"},{"LinkTitle":"Esp32","RelPermalink":"/tags/esp32/"},{"LinkTitle":"Control","RelPermalink":"/tags/control/"}],"title":"Float IoT Device"},{"categories":[],"content":"Overview This project focuses on designing a MARS Rover with a rocker-bogie suspension system to navigate obstacles on the Martian surface. It features LORA-based communication to a computer station via a drone, allowing semi-autonomous control using GPS, LiDAR, cameras, and IMU sensors. Future developments include a robotic manipulator with kinematic control, integrating rover locomotion with rotational joints to manipulate objects in its environment.\nImages of Various Systems Designed: ","permalink":"http://tediqafko.com/projects/marsrover/marsrover/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"3dcad","RelPermalink":"/tags/3dcad/"},{"LinkTitle":"SolidWorks","RelPermalink":"/tags/solidworks/"}],"title":"Mars Rover"},{"categories":[],"content":"Overview This project is a self-balancing robot based on the reverse pendulum model and a PID control system. A calibration button lets the robot automatically determine its balance point, which it then maintains by correcting for disturbances like friction, impacts, or uneven surfaces. Future development will add two-wheel XY movement and expand the robot’s ability to navigate challenging terrain such as rocks, stairs, and inclines.\nMaterials Microcontroller Arduino Nano IMU sensor MPU6050 Bluetooth module HC-05 Motor driver TMC209 Two NEMA17 stepper motors Battery pack 3s 12.1V Chassis frame Push button Wiring and mounts Electronics Module Images ","permalink":"http://tediqafko.com/projects/balancerobot/brobot/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"Ardunio","RelPermalink":"/tags/ardunio/"},{"LinkTitle":"Control","RelPermalink":"/tags/control/"},{"LinkTitle":"Bluetooth","RelPermalink":"/tags/bluetooth/"}],"title":"Balancing Robot"},{"categories":[],"content":"Overview This project uses optimized Kalman filters and three-camera triangulation to accurately track multiple drones in an enclosed environment. Precise position control enables the creation of dynamic animations, simulating a drone show. Iterative design improvements enhanced maneuverability and obstacle avoidance, while a dynamic model accounts for disturbances like wind and propeller-induced air currents. Each drone features a carbon fiber frame, F4 STM32 flight controller, 2.4GHz transmitter, and 3.7V Li-ion battery for lightweight, responsive performance.\nImages of Various Systems Designed: ","permalink":"http://tediqafko.com/projects/droneshow/droneshow/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"IoT","RelPermalink":"/tags/iot/"},{"LinkTitle":"Esp32","RelPermalink":"/tags/esp32/"},{"LinkTitle":"KiCad","RelPermalink":"/tags/kicad/"},{"LinkTitle":"MATLAB","RelPermalink":"/tags/matlab/"},{"LinkTitle":"3dcad","RelPermalink":"/tags/3dcad/"},{"LinkTitle":"SolidWorks","RelPermalink":"/tags/solidworks/"}],"title":"Droneshow"},{"categories":[],"content":" Overview A work-in-progress 1P PocketQube Earth observation satellite pushing the limits of miniaturization. It integrates advanced image sensors and commercial off-the-shelf components, with an embedded magnetorquer-based ADCS to precisely control camera pointing for high-quality Earth imaging.\nObjectives Design a compact 5 cm cube satellite for low-Earth orbit operations. Capture high-quality images at an altitude of approximately 600 km. Ensure satellite operational lifespan of at least 2 years. Enable reliable bilateral communication between the satellite and the ground station. Figure 1. The latest design of the satellite consists of five solar panel PCBs that fit together to form the satellite’s structure. The electronics fit tightly inside, including the flight board at the top, the communications board in the middle, and the power management board at the bottom. The bottom plate is a mounting PCB designed to fit inside rocker launchers for 1P satellites, featuring two switches that enable power to the satellite when launched from the rocket.\nFigure 2. The team worked closely with Nepali Orion Space to learn about satellites. This is the Nepali Orion pico satellite that we used to understand the development and requirements of nanosatellites. It consists of a communications board at the top, a payload board with pressure and IMU sensors, a flight controller board using an ATmega328P, and a power management board. PCB Designs Various software was used to design the PCBs. KiCad and Altium were the main PCB platforms used to set up schematics. layouts, and 3d models of the satellite. The team would collaborate using google drive and github to share designs together. Below are two pcbs, one is the power management board that converts 3.3V, 5V, and 1.8V managing the solar energy on the way. The second board is the embedded stm32 board that contains the interfaces for cameras, sensors, and GPIO for testing.\n3D Model (Solar Charger)\nLayout (Solar Charger)\nSchematic (Solar Charger)\n3D Model (STM32 Board)\nLayout (STM32 Board)\nElectrical Power System \u0026amp; Inital Solar Cell Layouts **Note: If you are on mobile, click the powerpoint below to check out the powerpoint slides.\n","permalink":"http://tediqafko.com/projects/nanosatellite/satellite/","tags":[{"LinkTitle":"Satellite","RelPermalink":"/tags/satellite/"},{"LinkTitle":"Space","RelPermalink":"/tags/space/"},{"LinkTitle":"Stm32","RelPermalink":"/tags/stm32/"},{"LinkTitle":"KiCad","RelPermalink":"/tags/kicad/"},{"LinkTitle":"Altium","RelPermalink":"/tags/altium/"}],"title":"1P Nano Satellite"},{"categories":[],"content":"Overview A spherical autonomous robot designed for low-cost freshwater monitoring, integrating reaction-wheel actuation, a buoyancy engine, and a modular sensor suite for real-time environmental data collection.\nFigure 1. A prototype assembly of one of the components in the robot called a reaction wheel. Uses angular momentum to orient the sphere. Two of these on the sphere control 3 degrees of freedom\n\u003e Figure 2. The models above were designed and rendered in SolidWorks.\nProject Objectives Design an autonomous spherical robot for underwater and surface navigation. Implement reaction-wheel and buoyancy propulsion for precise movement. Integrate sensors to monitor key water-quality parameters in real time. Ensure a compact, waterproof, and energy-efficient design for extended operation. Diagram of Electronics Figure 2. The diagram above captures the computer station running a flask software for communication, the main control unit with all the sensors and control logic, the power distribution, motor controllers, and buoyancy engine.\nHardware used Below is a table for all the components that were used to build this sphere.\nComponent Description GT-U7 GPS Module Provides global positioning data for navigation and locating the robot in aquatic environments. ADS1115 16-bit ADC 4-channel ADC converter used for accurate measurement of analog sensor inputs. BN008 IMU Supplies orientation, acceleration, and angular velocity data for stable underwater movement. L298N H-Bridge Motor Driver Controls the reaction wheels and buoyancy engine, capable of handling high-current loads. 9V Buck-Boost Converter Provides stable and efficient power regulation for the reaction wheels and buoyancy engine. BQ25303J Battery Charger Switch-mode charger used for recharging the robot’s lithium-ion battery cells. 4× Samsung 18650 Cells (3500 mAh each) Wired in parallel to deliver ~14 Ah total capacity, enabling ~18 hours of operation. Raspberry Pi Zero 2W Serves as the main controller, offering onboard processing and Wi-Fi communication. Assembly and Circuit Board Figure 3. The model on the left labels all the components of the sphere and on the right, is a 3D model of the printed circuit board designed in KiCAD.\nSoftware All the software for the project is uploaded on github here\n","permalink":"http://tediqafko.com/projects/object-tracking-sphere/sphere/","tags":[{"LinkTitle":"Robot","RelPermalink":"/tags/robot/"},{"LinkTitle":"Water","RelPermalink":"/tags/water/"},{"LinkTitle":"IoT","RelPermalink":"/tags/iot/"},{"LinkTitle":"SolidWorks","RelPermalink":"/tags/solidworks/"},{"LinkTitle":"Network","RelPermalink":"/tags/network/"}],"title":"Object Tracking Sphere"},{"categories":[],"content":"","permalink":"http://tediqafko.com/manifest.json","tags":[],"title":""},{"categories":[],"content":" ","permalink":"http://tediqafko.com/projects/rov/2023/2023/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.de/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.es/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.fr/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.hi/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.jp/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.nl/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.pl/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.ru/","tags":[],"title":""},{"categories":[],"content":"","permalink":"http://tediqafko.com/search/_index.zh-cn/","tags":[],"title":""}]