SE2: ROV MATE

Self Evaluation

2008-06-09T19:15:00.001-04:00

I. Scope of project

The scope of my project was to design and construct a frame for a Remotely Operated Vehicle (ROV) for the Marine Advanced Technology Education (MATES) competition. I worked on the ROV with two teammates; Eric Winters and Jeremy Kuhn. My part of the project was to design and construct the frame. The purpose of this frame was to contain the other systems that the ROV would need to operate. The first of these systems, the mechanical arm; used to pick up the PVC caps that represented crabs, on the bottom of the pool during the MATES competition. The second system, the propulsion system; was used to propel the craft through the water in all directions. Finally, the frame held the video camera used to navigate underwater, and the thermometer to take the temperature of a thermal vent. The frame’s purpose was to hold all of these systems together and use all of the systems to make one craft that operated smoothly together.

II. My solution

In September when the teams were finalized, our team; Jeremy, Eric, and I; divided our roles into three parts. My role on the team as mention in “I,” was to design and build the frame ROV. This was the role on the team that I had hoped for because I had researched this for the majority of the summer prior to this course. I had spent most of my time researching different materials to use for the frame and looking online at other ROVs to get ideas for how I would build my frame. During the summer I came up with several rough plans. These three ideas were modified somewhat and drawn in AUTO-CAD as my alternative solutions. Two of these were discarded after my team and I met and discussed how our systems could work and fit together to make one smoothly operating craft. The chosen solution was frame built out of 2” PVC piping using PVC joints at the corners. The frame (Figure 1) was rectangular two dimensional aside from the six protruding PVC caps around the bottom of the craft. These were included in the plan for the frame for adding weight to frame to get it closer to neutral buoyancy after all of the systems were added. The frame was perfect for attaching the arm to the front piece of PVC. The final design of the frame that was chosen has a mesh structure inside of its PVC structure. This frame was perfect for zip-tying the bilge pumps from the propulsion system. The frame was able to hold the camera for navigation as well. This was mounted on the front of the craft so that it could be used for navigation and use of the mechanical arm. I believe that the final solution that was used for the frame was the best possible choice based on the alternate solutions, the other systems that would have to be fitted to the frame, and input from my team teachers and mentor.

III. Discrepancies between design and solution

While building the frame of the craft only one problem stunted the production. The designed frame was too large and looked disproportional when it was dry fitted before it was finally glued together. The frame was overly long and too thin. Not only did it look wrong, but we anticipated that it would not be stable in the water if it was excessively long. Therefore our team decided that the length of the frame would have to be trimmed down. We fixed this simply by trimming off one inch on each piece of PVC piping. This cut the craft’s length from thirty inches, to twenty-eight inches (Figure 1 below). After this was completed the pieces were then dry fitted again and the proportion of length to width seemed better in our opinions than it had been before. The craft was then glued together permanently.

IV. Successes and Failures Successes and failures you encountered during all phases of the project

There were few failures throughout the year and production of the frame. Some failures were not quite failures, but were more setbacks that delayed continuing on with the next step of the project. The first of the setbacks occurred when the bilge pumps were delayed in being shipped. This led to a shorter amount of time after the craft was fully assembled to test it and tweak it to perfection. However, the craft was completed before the competition and there was time to work on perfecting the craft. The second issue was a failure but it was a failure in the arm’s hydraulic system. The syringe on the user side of the hydraulic system broke during the competition, rendering it useless.

The construction and production of the frame as a whole was a success. The drawing of the frame went according to plan. The building of the frame went well too. Towards the end of the year the frame was constructed. This was one of the most successful areas of the project. From start to finish, in the construction of the frame it took less than two weeks. This allowed for extra time for the systems of the ROV to be placed on the craft. After all of the systems were mounted on the craft and were fully operational the craft then needed to be brought closer to neutral buoyancy. The craft was extremely positively buoyant. With the 500 gallon per hour bilge pumps pushing the craft there would not be enough force to sink the craft. The craft was weighed down with concrete in the four corners where the PVC caps were on the bottom. This brought the craft very close to neutral buoyancy. After this was done, the craft was finely tuned with lead sinkers of varying weight to allow the craft to be perfectly stable as it sat in the water. These weights did bring the craft to a state in which it was slightly positively buoyant and perfectly stable in the water. This allowed the craft to easily move vertically in the pool even with a PVC crab in its mechanical arm. Finally, the frame was successful due to its specifications because it was able to hold all of the systems needed to make it a craft and operate according to the tasks set forth by the MATES competition. Overall the frame of the craft was a success.

V. What failures taught me

The few failures that I encountered throughout the project taught me one very important thing. This was to work with those around me and ask for help. Working with my teammates was the key to my successes and the overcoming of my failures. I did not have any failures that related to the frame specifically. It held up perfectly and held all the systems as needed.

VI. Additional learning

After working on this project I learned several new things. The first of these was a deeper knowledge in the area of electronics and how switches and joysticks work. I learned how hardwiring an electrical circuit works and would now be able to create a similar controller myself if need be. I learned how underwater jet propulsion works. I was unaware that water jets do not work if they are sucking in water and the nozzle is out of water. In order for the jet to work it must be in the medium that it is sucking from and force it out in another direction.

VII. Design flaws/ suggestions for improvement

There is one design in flaw in the ROV craft that relates to the frame. This flaw is the size and weight of the craft. The craft completed the tasks that it needed to; the problem however was the speed in which the craft did this. The craft moved much too slowly. This was due not to the size of the craft but the weight of the craft. There are two possible solutions to this issue that could be used to improve the craft. The first of these viable solutions would involve replacing the existing 500 gallon per hour bilge pumps with much more powerful pumps. These pumps could be 1,000 gallon per hour pumps or 1,500 gallon per hour pumps which would drastically improve the crafts velocity underwater. The second solution would be to rebuild the frame of the craft much smaller. This would be more difficult to do after the construction began because the other systems for the ROV were built to the size specifications that were constructed. If the project were to be redone completely, then designing the same frame exactly the same but smaller would allow the craft to maneuver more easily with the reduction in weight to sink it.

VIII. How this project helped you improve my:

A. Problem solving skills

Working on this project drastically improved my problem solving skills. This project forced me to work with a team of two other seniors. By doing this I was able to consult them for ideas when something went wrong. If I found a problem that they could not help me with than I had to fix the problem myself. I at several points of the project needed to fix something on my own. First of all, I would figure out the issue. Next, I would decide what needed to be done to make it right. After that, I would create a method or two that would get me to the solution. Next, I would carry out a chosen plan and fix the problem that was at hand. Finally, I would test the part of the craft or object that I had fixed to make sure that my solution worked with out interrupting the rest of the project. If it did not work than I began this process again. If my solution worked than I would

B. Communication skills through drawing, speaking and writing

My communication skills were greatly improved throughout the year in all of these categories. I did not draw for my project but I became much more experienced in the AUTO-CAD with using 3D shapes. I became much more skilled in technical writing because of all the papers involved in the design and construction process. Finally, the most important skill that I improved this year was speaking in front of people and presenting something that I designed and worked on. At the beginning of the year I dreaded presenting in front of people and was uncomfortable with presenting ideas and objects that I had created. I doubted ever being able to do this easily. By the end of the year however, I feel that I am much more comfortable speaking. I now pause less when I am speaking in front of people and I do not fidget either.

C. Organizational skills

I believe entering this year that I was an organized person. This course improved my organizational skills. For this year I kept all my paperwork in a folder in my backpack. I also kept all of my digital files on a flash drive which allowed for quick access to files when need be.

IX. Conclusion

As the ROV project has been completed and tested, I have felt several feelings involving the project. I feel that the project helped me learn new things involving the technical process in designing and constructing a project. It has helped me work with two teammates who I have grown closer to. I believe that my part of the project was successful and that we were successful as a whole. I am glad that I participated in the ROV project and would do it again if I had to choose another senior project and do it all over again.

Testing Results

2008-05-20T13:29:00.004-04:00

Testing Procedures

Frame:
1. After completion of building, place in water at a depth of four meters.
2. The first test should be to check for any possible leaks of air in the sealed frame.
3. The craft should be close to neutral buoyancy, but slightly positively buoyant.
4. Make adjustments with buoyancy until desired buoyancy level is attained.
5. When slightly positive buoyancy is achieved, operate the craft’s propulsion system and mechanical arm system.
6. If the craft holds all of the components and the components operate successfully in performing the tasks set forth by the MATES competition; than the frame is successful.

Test Results:

Upon completion of the building the frame was tested. It was then brought to Ernie Vaughan’s house; a member of the team. First, the frame was dropped into the pool. The frame was positively buoyant. The frame was then pushed under the surface of the pool and held there for a minute or so to ensure that there were no leaks in the frame. This was successful and the frame was airtight.

After the frame was carefully checked over to ensure that it had no hidden leaks the frame was than checked for neutral buoyancy. The frame was slightly positive. Several lead sinking weights were added to the frame in various points to bring it closer to neutral buoyancy. After the amount of weight needed to be added was determined, this weight was placed at various points on the metal mesh of the frame to equally distribute the weight and keep the craft evenly balanced. After this was completed the frame was once again placed in the pool. The craft was left alone for several minutes to assure that it was completely level. The craft stayed perfectly stable and did not roll either to the left or the right. The frame was than used with the propulsion system and the arm to assure that they all worked fluently. All of these systems worked well and the preliminary test was successful according to the testing procedures.

The following weekend was the final test for the frame and the rest of the ROV. The ROV had to compete in the competition and collect PVC crabs on the surface of the bottom of the pool, and take a temperature from a thermal vent. The frame performed well. At the competition the frame was slightly positively buoyant as planned. The craft was successfully able to take the temperature from the thermal vent. The ROV was also successful in picking up a crab from the bottom of the pool. The ROV was unable to pick up another crab due to a malfunction in the hydraulic arm. However, the craft was still successful because it completed the entire task set forth by the testing procedures.

MP4 Calendar

2008-05-02T13:37:00.002-04:00

May

5. Submit calendar for grade to Mr. Alfonse.
6. Begin typing up testing/results and conclusion.
7. Continue typing up testing/results and conclusion.
8. Continue typing up testing/results and conclusion.
9. Continue typing up testing/results and conclusion.

12. Finish typing up testing/results and conclusion.
13. Begin working on final report.
14. Continue working on final report.
15. Continue working on final report.
16. Continue working on final report.

19. Continue working on final report.
20. Finish working on final report.
21. Make last minute preparations for the presentation night.
22. Presentation night.

Finsished Product

2008-03-30T22:00:00.000-04:00

Here is the finished frame. Only the cameras and the propulsion system are missing.

Construction

2008-03-27T11:33:00.006-04:00

All of the cuts have been made at this point. Here are some photos from the construction:

Here glue is being applied to the PVC piping.

These are the semi finished frame pieces.

This is the assembled frame for the ROV frame.

This is the assembled frame with mechanical arm attached to it.

This is the frame of the craft after its first paint job.

This is the completed fram floating upside down in the pool with the mechanical arm attached to it holding a wiffle ball.

MP3 Calendar

2008-02-05T13:59:00.000-05:00

February

4. Production of the calendar.
5. Calendar due/ update webblog.
6. Glue frame together.
7. Cut pieces with Jeremy for mechanical arm.
8. Begin the process of putting the arm together.

11. Finish the construction of the mechanical arm.
12. Update webblog with the first set of construction pictures.
13. Revise expanded isometric drawing.
14. Begin to compile a master drawing of the entire craft together.
15. Finish the drawing of all the pieces together.

19. Cut the base for the components and attach with zip ties.
20. Update webblog with new photos of the construction process.
21. Paint the frame and base piece.
22. Attach bilge pumps to base.

25. Connect power cables to bilge pumps and test.
26. Construct electrical housing for craft.
27. Gut Atari Joystick and draw up sketching for the redone wire plan.
28. Begin to replace old wiring with newly adjusted CAT-5 wiring.
29. Complete rewiring of Joystick

March

3. Attach mechanical arm to the PVC.
4. Mount two waterproof cameras to the frame of the craft.
5. Begin construction of the “Umbilical cord”/ work on the hydraulic hosing.
6. Continue work on the “Umbilical cord” working on the CAT-5 cables to control the craft.
7. Finish the “Umbilical cord” finishing work on the video cables and power cables.

10. Possible testing date for the craft at Monmouth University
11. Possible testing date for the craft at Monmouth University/ reworking any needed changes.
12. Rework any needed changes to the craft.
13. Begin Press release document.
14. Continue the press release document.

17. Wrap up major elements of press release document.
18. Finish press release document.
19. Press release.
20. Construction due.

31. Preparation for presentations, produce outline.

April

2. Finish review of all material for the presentation.
3. Presentations begin & webblog due.
4. Continue presentations.
5. Third day of presentations.
6. Fourth day of presentations courtesy of Joe DiMarco.

9. Wrap up anything that needs work before the competition.
10. Relax.

Math and Science Report

2008-01-10T13:48:00.000-05:00

The ROV Mate Submersible is a complicated project that entails many aspects of science, math and technology. Incorporated particularly in the frame of the ROV; the science and technology are the two predominating factors for success; math plays a major role, involving buoyancy and the angles that the pieces are put together at.
Science and Technology:

Zip tie:

Zip ties are a hard plastic, reusable strap that can hold two objects very tightly together. They are cheap and easy to come by and good for many situations. They will be used to strap the plastic mesh that will hold all of the components onto the PVC frame.

The Chemistry of PVC:

Polyvinyl chloride, better known as PVC, it is a thermoplastic (see figure 1 below for chemical make up). A thermoplastic is a plastic that can be melted into a liquid and put into molds to make the desired piece. It is generally used in piping systems in commercial structures in today’s modern world (Wikipedia). This material is durable, cheap, easy to come by and very customizable in the fact that an endless number of structures can be built with it according to the situation in which it best fits.

(Figure 1) – The chemical make up of polyvinyl chloride on the right hand of the equation. It is made up of hydrogen (H), chlorine (Cl), and carbon (C). This than goes through polymerization and becomes what is PVC on the left (Wikipedia).

PVC Cement:

PVC cement is a critical tool in putting together several lengths and/or joints of PVC. It chemically bonds the PVC to create a nearly unbreakable, airtight seal when applied correctly. The chemicals in PVC could not have been combined many years ago, but due to today’s technology this is possible. PVC cement contains: acetone, methyl ethyl ketone, cyclohexanone, tetrahydrofuran, and finally polyvinyl chloride. All of these chemicals are dangerous to humans if ingested but together when mixed properly they make an adhesive for plastics that is strong as cement.
Mathematics:
Buoyancy:

Buoyancy is the waters force pushing upward on an object, in this specific case the ROV Mate Frame. To calculate the buoyancy of the craft, an equation for the volume will be necessary. The way to most accurately measure the volume of the craft will be to measure all of its components as cylinders. This will give a relatively accurate volume of the craft. The equation for the volume of a cylinder is as follows: V= 3.14r²h

The “r” or radius for all of the piping in the frame is 1in because the diameter is 2 in. The “h” or height for the two long sides seen in Figure 3 will have a height of 31.2 in. The shorter sections will have a height of 13 in. And the six short bottom pieces will have a height of 2.5 in.

V= 3.14 (1²) 31.2 in = 97.97 in³ x 2 = 195.94 in³

V= 3.14 (1²) 13 in = 40.82 in³ x 2 = 81.64 in³

V= 3.14 (1²) 2.5 in = 7.85 in³ x 6 = 47.1 in³

Total volume = 195.94 in³ + 81.64 in³ + 47.1 in³ = 324.68i n³

Conversion from cubic inches to liters of displacement:

324.68 in³ x 0.01639 = 5.322 liters

The crafts overall buoyancy and displacement of water is roughly 324.68 or 5.322 liters.

Physical Check:

To check the math, the crafts underwater submerged volume will be needed. This measurement will be obtained after the frame is built. The method to check the crafts volume will be based on Archimedes Principle; when an object is placed in a liquid the amount of fluid that it displaces is its . The craft will then be submerged in a measured body of water. After the craft is placed in the water the displacement will be measured by the change in height of the water. This displacement is the submerged volume. After finding the submerged volume this measure will be multiplied with the density of the surrounding liquid. This liquid will be water. The density of water is 1gram/cm³. The ROV will not be operated at a depth of more than four meters so the pressure will be approximately one atmosphere, or G= 9.81. The equation that will be used to check the math:

Buoyancy = (1gram/cm³) (Volume) (9.81)

After the calculation is made weights will be added evenly to the “F” pieces displayed in Figure two below. The weights will be added until the craft is close to neutral buoyancy yet is still positively buoyant.

Pythagoras Theorem:

A² + B² = C². This simple equation can be used to measure the length of any side of a right angle triangle, if the other two dimensions are known. This will help the construction of the frame so that the corner angles on the top rectangle (see Figure 2; the combined pieces of “A," "B," "D," and "E"). When "A," "B," and "D" are combined the angle must be precisely at 90˚. In order to do this the lengths of two adjacent sides must be taken (see Figure 3). The longer side length of the top of the frame is 2’-6”. The shorter side length is 1’-6”. These are sides A and B.

A = 1.5’

B = 2.5’

A² = 2.25’

B² = 6.25’

2.25’ + 6.25’ = 8.5’ the square root of 8.5’ is 2.915’. When the frame is being dry fitted together the distance from corner to corner must be 2’-11”.

These sciences, mathematics, and technology all contribute to the soundness of the design and the final production of the frame. The mathematics will help make the craft the perfect dimensions. The calculation of buoyancy will aid in the counter weighting the crafts positive buoyancy even after all of the components are added.
Pictures:

(Figure 2) – The completed expanded isometric CAD drawing of the ROV Mate Submersible frame.

(Figure 3) - This is the completed labeled orthographic view of the ROV Mate frame.

Plan of Procedures and Bill of Materials

2007-12-19T13:56:00.000-05:00

Plan of Procedure
1. Gather all materials listed in the above tables, and bring them to the working area.
2. Gather all measuring and marking material and bring them to the working area.
3. Measure and mark out, “A” 10 3/8” (See Figure 1 below and Table 3 above).
4. Four lengths of this size are required (repeat three more times).
5. These lengths will than be cut accurately on the band saw.
6. Proceed to measure and mark out “B” 1’-0 1/8” (See Figure 1 below and Table 3 above).
7. Two lengths of this size are required, repeat once.
8. Cut these two lengths using the band saw.
9. Proceed to measure and mark out “C” 2 3/4" (See Figure 1 below and Table 3 above).
10. Six lengths of this size are required so repeat step “9” five additional times.
11. Cut these six lengths of PVC with the band saw.
12. Now all of the pieces that need to be custom cut have been completed the pieces can now be cemented together.
13. First begin with item “E,” (See Figure 1 below and Table 3 above), use the brush in the primer can to spread the primer inside the joint on the top or cap of the of the “Tee.” Do this in a circular motion until the entire inside of the Tee to the first ridge is covered in primer.
14. Do this on both ends of one Tee.
15. No time is required for the primer to sit; after both sides of the top of the Tee have been primed, proceed to apply the PVC cement in the same fashion on both sides of the top of the Tee. NOTE: Do not yet apply primer or cement to the bottom of the Tee, this will be done later in the construction.
16. After the PVC cement has been thoroughly spread on the inside of the top of the Tee, insert “A” (one of the pieces cut out in steps “3” and “4”) as far as the Tee joint will allow the piping to slide. Sometimes a moderate amount of force will be required to ensure that the piece is all the way in.
17. Repeat step “16”on the opposing side of the Tee.
18. Repeat steps “13-17” with the other “E” piece and the two remaining “A” pieces.
19. Begin with one of the “D” pieces and apply primer and than glue to the inside of one side of it as done with piece “E” in steps “13” and “15.”
20. Repeat step “19” on another “D” piece.
21. With two pieces of “D” primed and ready to be bonded with PVC insert piece “B” into the appropriately prepared opening.
22. Take the second prepared “D” piece and push it onto the end of “B” so that it is at the same angle as the other “D” piece and so that one of its openings is facing down like the other “D.”
23. Now repeat steps “18-22” with the remaining “B” and “D” pieces.
24. After these four sets of pieces have been assembled the basic rectangular shape is ready to be assembled for the structure.
25. First prime and cement the insides of the all four “D” pieces.
26. Next insert the one of the “A” pieces into the “D,” while inserting this pipe into the joint make sure that the Tee’s open hole is facing downward in the same way that the open “D” hole is.
27. Repeat step “26” on the other side of this set.
28. Now push the remaining set of the “A” and “D” pieces together with the exposed “A” pieces (as seen in Figure 1).
29. Now let the competed rectangle sit for several minutes until the cement hardens and the joints become inseparable.
30. After the rectangle sets and becomes one piece prime and cement the opening on the two Tees and the four corners.
31. When all six of these openings are prepared insert the “C” pieces (as seen in figure 1).
32. Let these set joints set; when these are solidly joined the assembly is finished for the time being.
33. Now piece “G” must be measured and cut to the appropriate dimensions.
34. Use the band saw to cut the plastic mesh to the proper dimensions.
35. Set the cut plastic mesh inside the rectangular structure.
36. Use zip ties to fasten the hard plastic mesh to the frame.
37. “F” pieces will be permanently cemented on at a later point after the buoyancy measurements are completed and the craft is ready to have the final counter buoyancy weights attached.

Expanded Isometric

2007-12-18T18:13:00.000-05:00

This is the completed 3D expanded isometric showing all the parts that will be used to build the frame.

Isometric

2007-12-18T18:07:00.000-05:00

This is the completed isometric view of the frame for the ROV Craft.

Final Orthographic Design

2007-12-18T13:52:00.000-05:00

This is the final orthographic view with dimensions and labels for all of the materials.

MP2 Calender

2007-11-13T13:58:00.000-05:00

November
12. Work on calendar.
13. Finish calendar and post on webblog.
14. Begin developmental work, orthographic views.
15. Continue orthographic views.
16. Continue orthographic views.
19. Continue orthographic views.
20. Continue orthographic views.
21. Continue orthographic views.
22. Have completed orthographic views completed post on webblog.
23. Begin work on exploded isometric views.
26. Continue work on exploded isometric views.
27. Continue work on exploded isometric views.
28. Continue work on exploded isometric views.
29. Continue work on exploded isometric views.
30. Continue work on exploded isometric views.

December
3. Have completed exploded isometric views and post on webblog.
4. Begin work on the rendered isometric.
5. Continue work on rendered isometric.
6. Continue work on rendered isometric.
7. Continue work on rendered isometric.
8. Continue work on rendered isometric.
10. Continue work on rendered isometric.
11. Continue work on rendered isometric.
12. Finish work on rendered isometric and post on webblog.
13. Begin work on plan of procedures.
14. Begin bid process and continue with plan of procedures.
17. Continue bid process.
18. Complete bid process and plan of procedures, and post on webblog.
19. Touch up any areas needing it on webblog.
20. Prepare to collect materials upon return.
21. Take a well deserved rest this class.
22-31. Winter break

January
1. Winter break
2. Prepare to collect materials for construction.
3. Continue collecting materials for construction.
4. Continue collecting materials for construction.
7. Finish collecting materials for construction.
8. Begin construction of frame.
9. Continue construction of frame.
10. Continue construction of frame
11. Continue construction of frame
14. Begin preparation for presentation.
15. Continue presentation.
16. Finish preparing for presentation.
17. Begin presentations.
18. Continue presentations.
21. MLK DAY
22. Finish presentations.

Completed Model

2007-10-31T22:21:00.000-04:00

This is the completed half scale model of the ROV. All of the basic components have been attached to show very closely what the final product will look like. The bilge pumps which control movement are painted red, the frame and base to hold all of the components is painted white, and the mechanical arm is painted blue and is attached to the front end of the model. The only working moving part of this model is the mechanical arm. The rest of the model represents where and how everything will be set up.

Control Selection/ Rejection

2007-10-25T12:55:00.000-04:00

Controls:
Alternate solution number one is the simplest control solution. It is simply a classic Atari joystick modified to control the ROV. It can be bought at any videogame store that buys and sells used merchandise. This is a very useful control system for the fact that it is already assembled and only needs to be rewired. To control the bilge pumps on the ROV, several ways to rewire the joystick can be found on the internet. The rewiring is not difficult and consists of unscrewing the bottom and rearranging the wires and adding longer wires to it that will run down the umbilical cord. This solution is the cheaper than the second solution, and will be easier to learn how to control. This solution is the more logical solution to use because it is simpler and cheaper.

Alternate solution number two is a much more complicated solution compared to the first solution. If selected everything would need to be assembled perfectly. It would also need to be wired properly as would the first solution, but the first solution is an already assembled piece. This solution is also more expensive than the first solution. Multiple switches would need to be bought and assembled in a housing that would need to be built also. This solution is less reasonable to build. It is much more complicated and expensive than the first solution.

The first solution will be the chosen solution to use. It will require and Atari joystick and rewiring. It is a simple, cheap method to accurately controlling the ROV.

Frame Selection/ Rejection

2007-10-17T14:17:00.000-04:00

FRAME:
Alternate solution number one is a relatively simple design. The supporting structure is made out of two inch PVC. It is a rectangle of about one and a half feet wide and two to three feet long. The final dimensions will be chosen according to the size of the arm. Its base to hold all of the components such as the bilge pumps will be mounted on a hard plastic mesh. An arm will be mounted to the front of the PVC structure. A camera as seen in the alternate solution will be mounted on the front. The arm when completed will be mounted here also. If this solution is further developed; one or more cameras will be added to provide better sight of the surrounding environment while the craft is maneuvering. This solution is the most maneuverable of the three solutions because it is two dimensional in the sense that it is flat and everything will be mounted in the same plane. Where as the third alternate solution has three dimensions and is more bulky so it would maneuver more slowly through the water. The simplicity of this design makes it one of the more logical solutions. However, the design being flat and two dimensional will make the buoyancy absolutely crucial. The crafts buoyancy will have to be perfectly tailored so that it does not tilt or lean to one side inhibiting its maneuverability. This craft also has a relatively small area compared to the second solution for mounting the components. The bilge pumps for this solution would have to be carefully laid out so that the craft is balanced and not overly weighted to any side as this may cause maneuverability problems. However, if this is done properly this craft is one of the more sensible solutions to build for these reasons.

Alternate solution number two is another two dimensional frame. However, it is more complicated than alternate solution number one. It is an octagonal frame, having eight sides and eight forty five degree joints. It is made of PVC as well as the first alternate solution. The base will be made with a hard plastic mesh. Having eight sides it requires that every cut be precise to more than an eighth of an inch, if there is more than one cut that is off the craft will be lopsided and the balancing of the craft while it is in the water will be much more difficult. The dimensions of this solution will once again be chosen according to the size of the mechanical arm if this solution is chose. If chose however, the frame will measure no more than three feet across at any point. This solution being two dimensional needs to be balanced properly so that the buoyancy will perfect, and the craft will neither sink nor float drastically to the surface. This solution is good for holding components on it. Equipment will be easier to mount on because it has a larger surface area to do this. This solution is not the most sensible solution of the three alternate solutions; the cons outweigh the pros of this solution.

The third alternate solution is a three dimensional frame. This is the most complicated frame solution. It has a base made of plastic mesh like the first two solutions. This would hold all of the bilge pumps and other components. This craft would be the easiest to balance if chosen because it is has three dimensions. Neutral buoyancy would be easier to achieve with this craft design. The bags used for the buoyancy would be attached on the top of the craft, keeping the top upward stopping any possibility for rolling the craft. This solution would easily fit a mechanical arm on the front and have many points for mounting the components. However for the MATE competition something this bulky would be excessive making its maneuverability. The craft should be slick and move quickly through the water which this solution would not do this as well as the first or second solutions. This solution would be more viable for use in a scientific field because it would keep all of the components mounted to it protected. In a swimming pool; a craft will not be in potentially damaging solutions to the craft. In the ocean or an outside body of water an ROV would be exposed to much more volatile conditions that could harm the bilge pumps and components. This solution is not the most sensible solution.

The first solution will be the craft that is further developed and designed. It is the most sensible design for the purposes of the ROV MATE competition. It has a low profile so it will move through the water easily. The mechanical arm will be easily mounted on the front, as well as the bilge pumps and the other components on the hard plastic mesh base. The model will be made at half scale for the end of first marking period presentation.

This is the final developed solution created in architectural desktop.

Alternate Control Solution #2

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This is the second control solution for the craft.

Alternate Control Solution #1

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This is the first control solution for the ROV craft.

Alternate Solution #3

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This is the third alternate frame solution for the ROV.

Alternate Solution #2

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This is the second alternate frame solution for the ROV.

Alternate Solution #1

2007-10-01T21:53:00.000-04:00

This is the first alternate solution for the ROV frame.

Testing Procedures

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The frame for the ROV will allow the craft to support a mechanical arm and hold the propulsion system. The frame should hold all equipment, and move smoothly and balanced as the propulsion system, moves it through the water.

The electrical housing should be able to contain the electrical exponents that cannot be exposed to water. It should contain such items so that they do not short circuit while the craft is submersed.

The controls should be able operate the propulsion system moving the craft; up, down, forwards, backwards, and rotating it. The controls should also be able to operate the mechanical arm.

Frame:
1. After completion of building, place in water with a depth of four meters.
2. The craft should be close to neutral buoyancy, but slightly positively buoyant.
3. Make adjustments with buoyancy until desired buoyancy level is attained.

Electrical Housing:
1. After completion of building, place underwater.
2. Use electrical components through housing.
3. Check to make sure nothing has short circuited.

Controls:
1. After completion of building, connect to the “umbilical cord” connected to the craft’s electrical housing.
2. Operate the craft with the controls.
3. Run every possible maneuver; move the craft up, down, forward, backward, and rotate it.
4. Operate the mechanical arm after the propulsion system has been tested and is in working condition.
5. Pick up desired object with craft.
6. Carry the object to the surface and back to the bottom.
7. Return craft to the surface.

An ROV picking tubes out of a basket.

Research

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Structure:
Frame:
This is the basis of the structure and the first item that is built when putting together an ROV. All of the equipment will be attached to this so it is crucial that this is designed lightly yet sturdily. Frames can be made form hard plastics, aluminum, and many other sturdy building materials that hold up well in water and under pressure. The frame should be as light as it possibly can while not being to light that everything mounted to it will not harm the integrity of it. The size of the frame can be large or small. It depends on what needs to be put onto the ROV. For this ROV thrusters, buoyancy control, a camera, and a mechanical arm are all that will be put onto it so it will not be large (Work).

All of the important components that will be added to the ROV will be attached to a base that firmly attached to the frame. Many items can be used for this base and there are several common ways to attach it to the frame. A hard plastic mesh is a simple basic base that can easily be cut to the shape required for the ROV. This can be zip tied to the frame; it can be clamped with brackets and screws also. Other bases can be anything that is solid, waterproof, and thin so that components such as the thrusters can be mounted to it, as well as the housing for the electrical components (Rollette).

Maneuverability:
Bilge Pumps:
Bilge pumps are generally used on boats to pump water out of the bilge and other areas of the boat where water doesn’t drain naturally. They suck water through the bottom of their shaft and it is forced out through a smaller hole on the top or side of the pump. They are run electrically and do not use a large sizable amount of current if they are small. These used on a small light vehicle could push it smoothly through the water. Several of these angled properly on an ROV would be able to give the craft the ability to move up, down, forwards, backwards, and spin (Veirs).
Motor and Propeller:
The motor and propeller is another simple way to maneuver an ROV. Popularly seen on airplanes, a motor and propeller used for an ROV such as this is much smaller. A watertight housing area for the motor is also required in this design to shield the motor from water because this too is electrically run; otherwise the motor would short-circuit the moment running while in the water. This housing can be airtight or filled with oil depending on the motor in use. A pressure resistant housing would be cheaper and more sensible for this ROV. Motors used for an ROV can range from very small, such as a model aircraft, to a large motor used in a cooling unit (Work).

Flotation/Buoyancy:
Neutral Buoyancy:
When a craft is in a body of water, it either floats, sinks, or is neutrally buoyant. In the case of an ROV, it is preferred to have the ROV at neutral buoyancy. This allows the thrusters to not over work themselves trying to keep the vehicle form either rising to the surface or sinking to the bottom. When a craft is neutrally buoyant it is much easier to pilot.

Other:
Surface Equipment:
While the ROV is busy at work underwater it must be controlled by a human above the water. In order to do this a monitor is need in order to see what the ROV is seeing through the video camera. A power supply is needed in order to run the ROV. Because the ROV will be run by electricity it will need to be plugged in, extension cords will be needed due to the possibility of an electrical outlet not being local to the diving area (Work).

“Umbilical Cord:”
This is the cable that carries all of the power to the ROV, all of the information to the video monitor, and all of the inputs and controls to the ROV. This must be waterproof, flexible, and long enough for the ROV to move freely (Work).

Housing:
This is a crucial part of the ROV in which all of the electrical inputs come and video output leaves. It also is the part of the ROV where the thrusters can be mounted. If your ROV has lights as well as the video camera on it they can be mounted on this also. This housing should be waterproof to protect the electrical equipment. The thrusters, cameras, and other parts can be mounted on the outside of the housing for the ROV (Work).

Control:
The ROV must be controlled at the surface by a human. The ROV must have a control panel along with the monitor to make the ROV do what is wanted of it. The propulsion should have controls in order to move it open and down in the water, forwards and backwards, and a control to make it spin. Sometimes it is suggested that the camera has an ability to move. If so there needs to be a control for this function also (Work).

Works Cited

Rollette, Jason. Underwater ROV submarine camera version 2. 2005. 2 September 2007. http://www.rollette.com/rovrev2/

Veirs, Scott. ROV Parts list and approximate costs. 2001. 1 September 2007. http://www.ocean.washington.edu/people/grads/scottv/exploraquarium/rov/home

Work Ocean. 1995. 1 September 2007.

http://www.rov.net/pages/Rokit5.htm

More Specifications

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Cost:

Some cost limitations may arise, none have been observed as of September 20th, 2007

Aesthetics:

Must look professional, by the standards of the team building it
May have a team emblemWill be painted, to distinguish from other ROVs at competition

Function:

To operate smoothly in a freshwater environment of up to 4 meters and place well in competition
Must be able to maneuver up, down, forwards, backwards, and rotate
Must be able to pick up objects and carry them to the desired location

Ergonomics:

The human will interact with the finished product by remotely controlling the craft from land
The ROV will be operated though a controller or control box
The human must be able to place it in the water with only members of the team
The human must be able to remove the craft from the water

Quality:

Built well enough so that it does well in competition
The craft will be built to hold up until it is disassembled

User:

Will be used by two teammates and myself
Someone with skill in controlling an object remotely
Possibly someone who often plays video games
Must have know how to use the controls to operate precisely
Not much human training should be needed to operate this system

Environment:

The ROV will be used at a maximum depth of approximately 4 meters
The ROV will be tested in a large fresh water pool
The product will not be harmful to the environment in any way

Background Information

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The Remotely Operated Vehicle, ROV Mate Submersible is crucial for deep sea research at depths where man cannot venture due to hazardous, conditions (see, Figure 1, and advanced scientific ROV used for delving into deep depths and taking samples and photographs for scientific purposes). The ROV Mate is a remote controlled vehicle with one or multiple cameras and a working arm to collect samples, and research deep depths. As a project for high school this would be the beginning to a more in depth undertaking. This ROV Mate will only work in freshwater, limiting testing and evaluation to large tanks and freshwater bodies of water. In the long range, more advanced forms of this can help science greatly for the specific reason that humans are not able to travel to certain depths due to pressure and oxygen shortage. ROV Mates don’t need oxygen and aren’t as expensive as creating a pressure suit for a human to travel to a deep depth. This project has been done before, but it can be improved upon by learning from any mistakes made by previous teams and building on their ideas.

ROVs are the safest way for scientists to research the deep depths of the sea. It doesn’t put any human lives at risk besides being on the vessel that the ROV is launched off of, but this risk is far lesser than being in human operated vehicle at a depth of two thousand feet. Not only is it safer for human life it is economically better too. To send a human in a submersible to a deep depth it cost much more money to design and engineer a vessel that can support life for a human. First the human operated submersible would need to be study enough to support the pressure of the depths and it would need a supply of oxygen for the passenger to survive. Even after these two necessities are met there is still the possibility that there could be a failure in a computer, the electronics, or any system on the craft, leaving the passenger stranded with no readily available help and no supplies to stay alive for long. Simply stated, an ROV is a more practical, safe and cheap way to undertake underwater research.

After basic research of the ROV MATE Competition, several discoveries have been made. The first of these is the purpose for the ROV MATE Competition each year. The competition has been created and ran every year for the preparation for the future in the marine related occupations. Marine Advanced Technology Education Center, MATE has been around since 1999 and has been holding the competition annually for several years. The ROV being designed and created this school year will be entered into the competition in the late spring of 2008. It will be built according to the specifications of MATE and will be compete against other teams, built up of high school students with similar ROVs. (Marine)

Several teams from the Marine Academy of Science and Technology, MAST, have competed in this competition and recent years. This project is aimed at improving on the efforts of groups past. The aim is to do well in the ROV MATE competition in late spring of 2008. Efforts will be put into the body of the craft, the mechanical arm and the propulsion system; the goal will be all three major finished pieces of the vehicle to work together in unity with guidance from the video surveillance that will be mounted to the vehicle (see, Figure 2, an ROV in competition maneuvering towards the toy balls to pick them up with its mechanical arm). As with winning ROVs in the past the key is unity throughout the system.

Advanced ROVs cost thousands, if not hundreds of thousands of dollars. More basic level ROVs that will enter the competition can cost well under a thousand dollars. They structures are generally constructed of PVC piping because it is cheap, compared to high priced, non- rusting metals (see, Figure 2, the structure of this ROV is mostly made up of PVC and the propulsion has easily been mounted on the rear section of this vehicle). PVC is easy to put together and a basic structure can be assembled in many varieties of ways to accommodate for the mechanical arm to be attached, have cameras mounted, as well as fans or pumps for the thrusting and maneuvering of the ROV.

These are some of the basics in regards to an ROV. It is important that all the different parts work together as a single system and that it operates smoothly for the craft to be a success. In doing this the entire team will have to work together to come up with a final design, and construct it well so that it operates well. It will take a sufficient amount of time produce a successful ROV. What time and effort is put into it will reflect in how it performs at the competition.

Picture1: (ROV)
Picture2: (ROV Competition)

Works Cited

Marine Advanced Technology Education Center. 2007. MATE. 8 July 2007.
http://www.marinetech.org/home.php

ROV. 2006. Woods Hole Science Center. 8 July 2007.
http://woodshole.er.usgs.gov/operations/sfmapping/images/ROV.jpg

ROV Competition. 2005. Western School District. 8 July 2007.
http://www.wnlsd.ca/images/ROV/MateROV%20060.jpg

Limitations

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General:

Will need a testing tank or pool
Cost will be prohibitive based on the degree of funding
No more than 3 monitors (TV screens for the cameras)
Must operate with less than 13 Volts and 25 Amps

Frame:

Must be small enough so two team members can place and remove the craft from the water
Electrical Housing:
Must be small enough to fit on the frame with out requiring too much space

Controls:

Must be operable with two hands

Specifications

2007-09-19T19:47:00.000-04:00

General:

Must operate on DC current
Must operate with less than 13 Volts and 25 Amps
Must be carried, launched, and recovered by only the team members
Must be operable at a depth of 4 meters
Will need working mechanical arm
Must be Remotely operated

Frame:

Must be submersible in freshwater
Must be durable
Must be able to hold all system components; such as the propulsion, cameras, etc.

Electrical Housing:

Must be completely waterproof
All electronics must come from control box through “umbilical cord” to housing
All systems must run off of electric that comes through the housing

Controls:

Must be simple to teach to use
Must be run with switches or joysticks for simplicity

Design Brief

2007-09-19T19:33:00.000-04:00

Design and construct, the frame, control box and electrical components for the unmanned submersible.

Calender

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September
19. Work on calendar and post on webblog
20. Calendar due, revise brainstorming
21. Complete brainstorming
24. Touch up alternative solutions
25. Continue and complete alternative solutions
26. Begin testing procedures
27. Complete testing procedures, have posted: alternative solutions, brainstorming, and testing procedure
28. Begin selection/ rejection report
October
1. Discuss with group members selection/ rejection
2. Make a selection from the alternative solutions
3. Informal progress update, brainstorming, alternative solutions, testing procedures, & outline
4. Collect ideas for the materials to be used in the model
5. Begin to gather materials for the model
8. Finish collection of materials for model
9. Begin the assembly of the model
10-19. Continue work on the model
22. Finish major model parts
23. Touch up small areas of model
24. Have model entirely finished
25. Begin developmental work
26. Continue developmental work
29. Prepare for presentations
30. Final preparation for presentations
31. Model, selection/ rejection due
November
1. Formal Presentations
2-13. Getting ahead on second marking period work