Table 2.
Components of the MF-USV with their weight and power consumption.
| Components | Description | Weight (g) | Estimate of the Average Electric Power Consumption (W) | Notes |
|---|---|---|---|---|
| Main Controller | 2 × ATmega2560 (Arduino Mega2560) AVR® 8-Bit Microcontroller at 16 MHz Communication interface: Universal Asynchronous Receiver Transmitter (UART), Inter-Integrated Circuit (I2C), Serial Peripheral Interface (SPI), General Purpose Input/Output (GPIO) |
74 | 0.4 | |
| Locomotion Module | Propulsion: HMS-RF240 DC motor Rudder motor: MG996R Servo motor Motor drive module: KEYES L298N Electric propeller Rudder and actuation mechanism |
135 | 5.52 | Maximum propeller speed: 15 cm/s Maximum rudder speed: 300°/s |
| Positioning Module | GY-GPS6MV2 NEO-6M-5Hz GPS Antenna GPS |
18 | 0.14 | |
| Ultrasonic Sensor | 2 × HC-SR04 | 17 | 0.02 | Microcontroller collects data from the ultrasonic sensors, execute the obstacle detection and avoidance algorithm |
| pH Sensor | SEN0161 pH sampling probe |
75 | 0.2 | |
| Water Sample Collection Device | R385 Water pump 2 × Electromagnetic valve 2 × Sampling bottle |
387 | 1.7 | Total volume of two sampling bottles: 60 ml |
| Vision Sensor | Pixy CMUcam5 Processor: NXP LPC4330 at 204 MHz Communication interface: UART, I2C, SPI, USB Image sensor: Omnivision OV9715 2 × GS-9018 Servo motor |
27 | 0.7 | |
| Water Surface Cleaning Device | 2 × HN-35GBE-1640Y DC gear motor Motor drive module: KEYES L298N Cleaning device: Salvage net |
1159 | 0.38 | |
| Communication Module | 2×HC-08 Bluetooth wireless module | 7 | 0.09 | |
| Cabling and Boxes | Plastic boxes with waterproof connectors and glands | 233 | -- | |
| Hulls and Deck | 1073 | -- | ||
| Total |
3205
(without batteries) |
9.15 |