VISVESVARAYA TECHNOLOGICAL UNIVERSITY JnanaSangama, Machhe, Belgaum, Karnataka 590018 Project Report On Development of Under Water ROV for Drowned Human Body Detection Submitted in partial fulfillment of the requirements for the award of degree Bachelor Of Engineering In Electronics & Communication Engineering Submitted By Prasanna kumar D (1NH15EC724) Dilip Kumar R (1NH16EC401) Mohan Kumar V (1NH16EC413) Under the guidance of Mr.Naveen H Assistant Professor, ECE Dept, NHCE Department of Electronics and Communication CERTIFICATE This is to certify that the project work entitled “Development of Under Water ROV for Drowned Human Body Detection” is a bonifide work carried out by student PRASANNA KUMAR D (1NH15EC724), DILIP KUMAR R (1NH16EC401) & MOHAN KUMAR V (1NH16EC413) submitted in partial fulfillment for the award of Bachelor of Engineering degree in VIII semester of the Visvesvaraya Technological University, Belagavi during the academic year 2018-19. It is certified that all the corrections and suggestions indicated for Internal Assessment have been incorporated in the report deposited in the Department library. GUIDE HOD PRINCIPAL Mr.NAVEEN.H Dr. SANJEEV SHARMA Dr. MANJUNATHA EXAMINER’S SIGNATURE 1. ……………………….. 2. ……………………….. ACKNOWLEDGMENT The satisfaction that accompanies the successful completion of task would be incomplete without mention of the people who made it possible, whose constant guidance and encouragement crown all efforts with success. We express my sincere gratitude to Mr. Naveen H, Assistant Professor in Department of Electronics and Communication Engineering, New Horizon College of Engineering, for providing guidance and encouragement. Department of Electronics and Communication for his constant support and guidance without which this project would not have seen the light of the day. Gracious gratitude to all the faculty of the department of ECE for their valuable advice and encouragement. PRASANNA KUMAR D DILIP KUMAR R MOHAN KUMAR CONTENTS 1. INTRODUCTION 2. MOTIVATION 3. BLOCK DIAGRAM 4. ALGORITHM 5. FLOWCHART 6. HARDWARE AND SOFTWARE SPECIFICATION 7. RESULTS AND FUTURE SCOPE INTRODUCTION A remotely operated underwater vehicle(ROV) is a tethered underwater mobile device. ROVs are unoccupied , highly maneuverable and operated by a crew either aboard a vessel, floating platform or on proximate land. They are linked to a host ship by a neutrally buoyant tether or when in use under rough conditions or in deep water along with TMS. ROV DEPLOYED BY INDIAN NAVY TO EXPLORE THE COAST OF INDIAN OCEAN WORLD’S FIRST EVER ROV PEGASUS(FRANCE) Dimitri Rebikoff (1921-1997) and Ada Rebikoff (1913-2011) were amongst the great pioneers of diving, and underwater photography in particular.Dimitri Rebikoff developed the first underwater electronic flash, stereophoto and film cameras, the world´s first underwater scooter, the Torpille, the Pegasus and the first remotely operated vehicle (ROV). His contribution to the development of underwater photography was ground-braking. NATO SUBMARINE RESCUE SYSTEM The NATO Submarine Rescue System (NSRS) is a tri-national project to develop an international submarine rescue system. The system provides a rescue capability primarily to the partner nations of France, Norway and the UK but also to NATOand allied nations and to any submarine equipped with a suitable mating surface around its hatches. The NSRS entered service in 2008, replacing the UK's previous rescue system, the LR5. The complete system is fully air transportable in a variety of suitable aircraft (C17/C5/An124/A400M). It is capable of launch and recovery in a significant wave height of up to 5 meter(sea state 6) and can reach any distressed submarine (DISSUB) in 72-96 hours from the alert, dependent upon location. It has limited capability in ice-covered seas. On receipt of a 'SUBSUNK' alert that a submarine is in difficulties, the submarine operator will initiate the NSRS call-out procedure. The intervention system, which is centred upon an off-the-shelf remotely operated vehicle(ROV) will mobilise to the scene about 24 hours in advance of the full rescue system. Once on-site it will locate the distressed submarine (DISSUB), establish communications, conduct damage assessment and prepare the DISSUB for rescue operations. DISSUB(DISTRESSED SUBMARINE) This is a brief introduction of the ROVs of the past and their types varies based on the requirement(application)for which it is used for instance -identification of drowned humans,bodies or it can be used to spot another submarine which was not locatable due to natural disaster Classification of ROV Submersible ROVs are normally classified into categories based on their size, weight, ability or power. Some common ratings are: Micro - typically Micro-class ROVs are very small in size and weight. Today's Micro-Class ROVs can weigh less than 3 kg. These ROVs are used as an alternative to a diver, specifically in places where a diver might not be able to physically enter such as a sewer, pipeline or small cavity. Mini - typically Mini-Class ROVs weigh in around 15 kg. Mini-Class ROVs are also used as a diver alternative. One person may be able to transport the complete ROV system out with them on a small boat, deploy it and complete the job without outside help. Some Micro and Mini classes are referred to as "eyeball"-class to differentiate them from ROVs that may be able to perform intervention tasks. General - typically less than 5 HP (propulsion); occasionally small three finger manipulators grippers have been installed, such as on the very early RCV 225. These ROVs may be able to carry a sonar unit and are usually used on light TYPES OF ROVs Open or Box Frame ROVs: This is the most familiar of the ROV configurations -consisting of an open frame where all the operational sensors, thrusters, and mechanical components are enclosed. These are useful for free- swimming in light currents (less than 4 knots based upon manufacturer specifications). These are not suitable for towed applications due to their very poor hydrodynamic design. Most Work-Class and Heavy Work-Class ROVs are based upon this configuration. Torpedo Shaped ROVs :This is a common configuration for data gathering or inspection class ROVs. The torpedo shape offers low hydrodynamic resistance, but comes with significant control limitations. The torpedo shape requires high speed (which is why this shape is used for military munitions) to remain positionally and attitudinally stable, but this type is highly vulnerable at high speed. At slow speeds (0-4 knots) suffers from numerous instabilities, such as tether induced roll and pitch, current induced roll, pitch, and yaw. It has limited control surfaces at the tail or stern, which easily cause over compensation instabilities. These are frequently referred to as "Tow Fish", since they are more often used as a towed ROV.Vehicles like the Perry Tritech Voyager (right) are very capable inspection systems using the state-of- the-art in fiber optic telemetry and control systems. ROVs like the Deep Sea Systems International MaxROVER offer increased power andmoderate work capabilities to depths of 9,842 feet (3,000 meters) at a fraction of the cost of electro-hydraulic systems. Electric vehicles have gained popularity with the military and science markets due primarily to their quiet operation. In addition, the work requirements for military and science are, in most cases, not as complex when compared to ROVs used for oil and gas operations. The future should see a dramatic increase in the work capability of such all-electric systems. Literature survey:A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model by Roger Skjetne .AnActuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle by Maria LetiziaCorradini, In the paper an actuator fault–tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied toan underwater remotely operated vehicle (ROV) used for inspection purposes Tracking objects in underwater multibeam sonar images by Tina Ruiz, in this work an obstacle detection and tracking algorithm applied to multibeamforwardlookingsonar images. It is used by an obstacle avoidance system to be fitted in a remotely operated underwater vehicle (ROV). The real -time data flow from the sonar output is represented as an image and pre-processed (smoothing filters, region- based segmentation and feature extraction) by the system to identify possible obstacles A total 3, 90,884 accidental deaths were reported in the country during the year 2011. A total of 6, 94,390 cases of Un-Natural Accidents have caused 3, 67,194deaths and rendered 5, 06,348 people injured during 2011.The major un-natural causes of accidental deaths were Road Accidents(37.3%), Railway Accidents and Rail- Road Accidents (7.6%), Poisoning (8.0%),Drowning (8.1%), Sudden Deaths (7.3%) and Fire Accidents (6.7%).29708 deaths have occurred during the year 2011 due to drowning (boat) ROV Implementation Our main device consists of three separate sectors: 1) Physical structure 2) Top controller and Bottom controller 3) Software Implementation A. Physical Structure Frame Design and Construction The purpose of the frame is to support the water-proof enclosure, the thruster motors, and any trimming weights. The principle design goal for the frame, taking into account thruster and enclosure positioning and support, was to ensure there was maximum water flow through the open frame, to therefore minimize drag. B. Top Controller and Bottom Controller Top Controller The primary purpose of the top controller is to act as the operator control interface. From the operator’s point-of-view, they need to be able to control the position of the ROV in the water on any one of four axes, as easily as possible, and receive timely feedback from the ROV of its position and the nature of the environment it is in.