Side View of ROV

This is a side view of the ROV. The starboard drive motor, blue instrumentation box and FST are seen in this image. Missing from this stage of assembly are the Chum Cannon, compressed air tank, depth pressure vessel, video cameras, and circuitry for motor control (with accelerometer stablilization), pressure sensors, temperature sensor, and more.

Relay Bank

This is a view of the relay bank that controls the forward/reverse drive motors. This assembly sits inside a blue plastic box located inside a waterproof case mounted on the ROV. There are two relays per motor for reverse and forward control. A large 10,000uf capacitor is (seen on the right) included to provide local instantaneous surge current vs drawing on the battery at the end of a long tether cable for every motor action.

Chum Cannon Piston

This is a view of the o-ring assembly, piston lock nut and the plate attached to the end of the piston. The quarter inch holes that let water in as the piston pushes to the right are seen as well. The brass barb fitting is the piston air exhaust.

We're using a Humphrey solenoid pneumatic valve (model 310) to control the air piston.

Chum Cannon

In our first submersion test this evening, the chum cannon worked as expected. The piston moves more slowly than in air due to the limitation of only 4 quarter inch holes for water to flow through. We did experience a small leak in the chamber. The source appears to be a failure in the acrylic end seal. The use of PVC cement is not ideal for acrylic and has repeatedly shown poor strength. Now I have to figure out how to get the water out and re-seal the end.