Got a question for everyone.
How are you controlling or what have you thought about using to control the list and trim for your ROV?
I have seen a lot of talk about Buoyancy but nothing about attitude control. If you don’t know what I am talking about for List and Trim … just think of your ROV and where the Center of Gravity is and how the object is going to rotate. The Center of Gravity is more than likely not going to be dead center and things are going to get real interesting when your front end is extremely light and the rear end has the batteries etc. To keep a stable platform you are going to be burning a lot of thruster power just to stay level and that really depends on where your thrusters are.
I plan on using hard tanks that I can vent and blow water out of while using a triple axis acceleration sensor to set the level in the tanks when the unit first submerges. I am trying to make sure that my weight is distributed correctly but once it gets to depth, pressure compression can change things. My total goal is to acheive zero bubble for list, trim and buoyancy … then I can use minimal thrust for movement in any axis.