I’ve started this thread as a carryover from my “New Build” thread in this section. I’m now leaving basic construction behind and starting a new phase of gaining experience in actual in-ocean exploration with 3 dimensional control. USR1 has been deep in the ocean for reef photography about 6 times, but never before with vertical control capability and neutral buoyancy. It was just used in drop-down and rotation mode. 3D opens up a lot of new possibilities, but can also lead to encountering new problems. Learning to maneuver in a strong current will be the biggest challenge, as well as avoiding entanglement. I have built USR1 as small as possible to minimize this problem, and the T100’s put out plenty of thrust to oppose the current.
USR1 is very basic. Blue Robotic components are the 10" WTE, three T100’s with ESC’s, and penetrators. The microprocessor is an Adafruit Mini Metro. The Tether is cat5e with a Kevlar chord attached. All control at this point is strictly manual through a joystick for x-y, and potentiometer for z. A basic cctv system is used with input to a topside 7" monitor and DVR. The camera is a Sony 700 TVL board camera. I also have a GoPro mounted on the WTE (not attached in this testing video).
The purpose of building USR1 is for video photography of the man-made reefs off of Jacksonville, Florida. I will be operating in up to 130 feet depth, out to about 30 miles.
I hope everyone can learn something from this thread, including what not to do. Please challenge me with questions and ideas.
Here is the pool test of new 3D capability: https://www.youtube.com/watch?v=bun49fUGMrs&feature=youtu.be