From neji@hp850.mbari.org Tue Jul 16 21:31 PDT 1991 Received: by hp850.mbari.org (15.11/15.6) id AA27758; Tue, 16 Jul 91 21:31:34 pdt Date: Tue, 16 Jul 91 21:31:34 pdt From: Jim Newman Return-Path: To: ulrich@jargon.whoi.edu Cc: dana@isis.whoi.edu, newrov@hp850.mbari.org Subject: Pan/Tilt project Status: RO Nathan -- The following is my internal proposal which will accompany the PO for Tad's time on the pan/tilt revelopment. Please note that MBARI is not committing to the whole project, even if the initial work is promising. However, I expect that we will want to pursue it further. We can talk about it in more leisurely fashion after you get back from the cruise. Good luck with it! Internal MBARI project proposal for WHOI/DSL Pan/Tilt cooperative development. Jim Newman 16 July 1991 BACKGROUND The Deep Submergence Laboratory at WHOI has proposed a cooperative development effort aimed at providing a very high-performance electric pan/tilt unit the will be used on JASON and the new MBARI ROV. The DSL proposal is appended. PROJECT GOALS Commercially available pan/tilt units suffer from limited speed ranges, considerable backlash and high stiction. For the video aiming requirements of the New ROV, these problems are serious limitations on performance. The proposed effort will result in a pan/tilt unit that has performance significantly ahead of any commercially available units, and which is designed to interface to the New ROV. WHOI/DSL has agreed to make the complete design available so that MBARI can reproduce the system. In addition to providing a unique pan/tilt capability, this project provides the basis for an on-going cooperation with DSL. In particular, DSL is pursuing development of manipulators based on the same cable-drive technology that the pan/tilts will use. This effort allows MBARI to get involved in that development with a modest initial commitment. RESOURCES REQUIRED The major commitment on MBARI's part is to provide a microcontroller and associated software that will control the pan/tilt unit. This will be a further development based on the pressure-tolerant microcontroller work that is already being pursued. The project requirements are: Ed Mellinger, Electronics design, test 4 weeks (Feb-May 1992) Luke Colletti, Electronics layout and fab 2 weeks (Mar-Apr 1992) Andy Pearce, Software development 4 weeks (Mar-May 1992) Jim Newman, Project Leader 1 week A portion of the pan/tilt hardware development costs are also required from MBARI (see budget). The project will also require up to two round trips to Woods Hole. SCHEDULE As per the WHOI/DSL proposal, the project should complete by 31 May 1992. The initial commitment will support the Research Assistant at WHOI through the three month investigative phase. At that point, MBARI will evaluate whether the project is going as planned, and if so will commit to the complete project. BUDGET WHOI PO -- To complete initial studies (approx) 6000.00 To complete project -- 24,983.00 (total = 30,983.) Microcontroller PC Board Fabrication 2000.00 Parts 4000.00 Travel 1500.00 __________________________________________________________________ Total 38,483 If, as is expected, the unit is successful, MBARI will want to build one or two additional units. (Approximate cost to reproduce will be approximately $12,000.) INITIAL COMMITMENT An initial commitment has been made to fund the initial studies, through motor selection. At the time that motor selection is completed, a commitment to the complete project will be considered. Project members will be comparing the projected performance of the pan/tilt unit to commercially available units, in with a view to the requirements of the new ROV. Final decision on the project will be made in view of the benefits to the ROV as an operational system.