Subsystems of RunderBot (tm)

• Balancing system
• Can't have deep hull or would not be able to rest on ocean floor to get close to subject matter.
  
• Mobility System
• Drivetrain system
• Motors
• Linkage
• Durability (exposed element)
  
• Controllers
• Controller logic
• Wheels
• Size
• Attachment
• Weigh, Density, Durability (exposed element)
• Drum
• Crush depth
  
• Specifications
• Capacity = 55 gal
• Diameter = 23"
• Height = 36"
• Weight = 26 lbs
  
• Volume = 14,957.15 in^3
• Volumne = 8.65 ft^3
  
• V = .7854 * d^2 * h
• or V = 3.1416 * r^2 * h
• 1 cubic feet = 1728 cubic inches (12 * 12 * 12)
  
• 
  
• Closure
• Weight
• Alone
• Loaded
• Internal cubic feet
• Ballast requirements
• Camera mounting locations.
• Cameras are protected via metal "brush guards"
  
• Drum shall not be punctured other than tether points.
• May not be possible for drive train. May need separate drive train module to attach to bottom.
• Prevents puncturing of barrel.
• Can be swapped out / upgraded / repaired.
• Computer control system
• Power source and consumption
• Controller Type
• Computer (low power desktop)
• Built in 801.x support
• Built in network port (RJ45)
  
• Built in modem port
• Great debugging, rapid development, already know the system
  
• PIC microcontroller not an option as the main system because of camera and other wireless features.
• Communication capability.
• Will use CAT5 physical tether cable because wireless connection is not trustworthy for distance in the open
• Fast Ethernet, 100baseT
  Speed: 100 Mbps
  Max Length: 100 Meters
  Cable: UTP, RJ-45 connectors
  
  Twisted Pair Ethernet, 10baseT
  Speed: 10 Mbps
  Max Length: 100 Meters
  Cable: UTP, RJ-45 connectors
  
• Cell phone
  
• Standard dialup modem hookup for terminal services if 801.x fails or if cell phone has better reception / calling / distance capabilities.
  
• Failsafe (from crash)
• Datalogging capabilities
• Input / output
• Labjack USB input / output
• Provides 32 digital io
• 5 analog in
• 2 analog out
• Camera System
• 2 Logitech Orbital Cams
• Compusa
• http://www.compusa.com/products/product_info.asp?product_code=307618&pfp=srch1
• Mounted outside of drum due to restraint of not puncturing drum
• USB2
• Sealed in acrylic orb or something similiar to prevent water and pressure damage
• Pressurization system
• Air tank keeps compressed air. When need it pulls compressed out air and pushes into cabin to equalize pressure as needed.
• Air pumps
• Solenoids
• Regulator
• Lighting
• Million candlepower lights
• Battery separated from bulb and reflector
• High Intensity LEDs around camera
• Lights follow camera or vice versa
• Tether opening system
• Supplies power
• Drive motors
• Pan and tilt of orbit cams
• Recharging opening
• Solar
• Direct (i.e. from car)
  
• USB camera cables
• Barrel closure system
• Bolt clamp system
• Bilge system
• Water stored in sub tank
• Dimensions
• Capacity
• Empty weight
• Filled weight
• Pumps and motors
• Tubing
• Electrical monitoring and control system
• Analog float valme for monitoring capacity.
• Ballast system
• Additional ballast required to sink 55 gallon drum
• Facts and figures
• Principles of pressure at depth
• Ballast requirements for air, weight, water density, temperature
• 
  
• Battery system
• Voltages
• Amps available
• Amp hours available
  
• Cell count
  
• Recharging
• Solar
• Direct
• Ventilation of cells during charging cycle.
• Software
• Client server
• Web cam capability over 801.x
• Web cam still photos to archive and transmission
• Ability to reboot
• GetCurrentSettingValue (ENUM_SETTING_XYZ)
• ResetStats()
• Reboot()
• GetAllSettings()
• Report()
• GetDepth()
• GetLatLongLocation()
• SetLatLongLocation()
• Surface()
• StopAllCommands()
• HoldPosition()
  
• Status()
• GetHeading()
• 
  
• Direction Finding
• USB GPS module
• If compass heading model available. Take that one else buy the separate USB compass.
  
• USB Compass Heading Capability
• Sound recording capability
• Sounds of surf, whales, etc..
• Sound playback over network
  
• Manually control
• Joystick on base computer is read via directx
• Signals are sent to RunderBot client
• Tether retrieval system
• DC motor spools in / out cable based on either manual input or spring loaded resistance.
  
• When tension exists, cable released
• When slack, cable retrieved until tension retrieval threshold met.
• The tension at which more cable is released and the tension that cable is pulled into are independently adjustable at the base station.