Team Members: Santos Ortiz (TL) Christopher Munoz Vicente Mora Instructor: Raresh Pascali Industry Advisor: Faculty Advisor: 1

Outline 2  Objective  Goals  What is a Remote Operated Vehicle (ROV)?  History/Background  Competition  Components  Cost Analysis  Gantt Chart  Work Break-down Structure (WBS)

OBJECTIVES: Design and build a Remotely Operated Vehicle (ROV) that will meet the specs for the International Mate ROV Competition. GOALS: Enter and win the Regional MATE ROV Competition in Houston, TX. Qualify for the International MATE ROV Competition. 3

4 What is a ROV? “Figure 1.1.” Diagram. ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles. Kidlington, GBR: Butterworth-Heineman, “Figure 2.” Diagram 1 and 2. Zoologica Scripta. Vol. 38, p42. Supplement Jan 2009.

5 History of the ROV Case Study 1953: Dimitri Rebikoff’s innovation of the “POODLE” 1961: U.S. NAVY’s development of the “CURV” 1974: U.S. NAVY’s development of the “SNOOPY” 1993: Japan Agency for Marine-Earth Science and Technology developed, “Kaikō” Results Bottles leaked, hydraulics failed, and was too noisy. Retrieved a lost atomic bomb off the coast of Palomares, Spain in First portable small-size observation ROV. World’s deepest diving ROV at 35,791 feet (10,909 meters).

6 COMPETITION: Three categories: Explorer, Ranger, and Scout. International Explorer competition involves one mission that consist of four task EXPLORER TASK: Complete a primary node and install a secondary node. Design, construct, and install a transmissiometer to measure turbidity over time. Replace an Acoustic Doppler Current Profiler (ADCP) on mid-water column mooring platform. Remove biofouling from structures and instruments within the observatory.

Competition Props Science Interface Assembly (SIA) in BIA. Backbone Interface Assembly (BIA). SIA bulkhead connector. Secondary NODE. Secondary node on elevator.

8 Explorer Competition Scoring: Mission: for safety +10 for organizational effectiveness = 320 pt. Technical Report: 90 pt. Engineering Presentation: 90 pt. Poster Display: 50 pt. Safety inspection: 30 pt. Design Parameters: Operate at 48 VDC from surface. Max current 40 amps. 150 psi max fluid power. Communication connectors. No on board battery.

9 ROV COMPONENTS THRUSTER PRESSURE TANKS CAMERA LIGHTING ARM CONTROL SYSTEM TETHER

10 THRUSTERS Seamor Seabotix Crust Crawlers THRUSTER PERFORMANCE/COST ThrusterElectrical Req. Thrust Performance Depth Cost (USD) SeaBotix19.1 VDC 6 lbs500 ft$700 Crust Crawler 12 VDC to 50VDC 15 lbs300 ft$600 Seamor 24VDC or48VDC 10 lbs1000 ft$3,500

11 Design and manufacture CAMERA Sea Viewer Webcam Manufacture housing Clear Tubing Power Cables Ethernet Cable TETHER ARM

12 CONTROLLER SYSTEM Seamate from MATE Arduino LabView Single Board COST COMPARISONPrice (USD) LabView Full Software$700 CONTROL BOARDSPrice (USD) LabView$700 Seamate$325 Arduino$200

13 Cost Analysis ItemCost USD Thruster (qty. 4)$2,800 Tether$100 Pressure Housing (PVC)$100 LabView$700 Control Board$700 Camera (Seaviewer)$600 Arm (Aluminum)$200 Frame Material (PVC)$500 Competition Materials/Props$200 Power SourceOn-hand Total:$5,900 COST ANALYSIS

14 GANNT CHART

15 GANNT ZOOM

16 WBS AquaForce’s ROV 15% Phase I 50% Research 50% Proposal 100% Competition 80% ROV components 80% Market Research 50% Competition Rules 50% Competition Mission 30% Cost Analysis 50% ROV Component 50% Software Required 50% Phase II 0% Design 1% Frame 0% LabView Programing 0% Circuit 0% Select Materials 0% Analysis 0% CAD Analysis 0% Analyze Material 0% Electrical Analysis 0% Hydraulic Analysis 0% Phase III 0% Fabrication 0% Redesign 0% Material Purchasing 0% Frame 0% Tendering 0% Testing 0% Buoyance Testing 0% Leaking Test 0% Thruster Testing 0%

17 REFERENCES "MATE - Marine Advanced Technology Education :: Home." MATE - Marine Advanced Technology Education :: Home. N.p., n.d. Web. 03 Oct "Seamor Marine, Nanaimo, British Columbia, ROV, Remotely Operated Vehicle, Thrusters, Tether, Underwater Robot." Seamor Marine, Nanaimo, British Columbia, ROV, Remotely Operated Vehicle, Thrusters, Tether, Underwater Robot. N.p., n.d. Web. 03 Oct "SeaBotix® Inc." SeaBotix® Inc. N.p., n.d. Web. 03 Oct Christ, Robert D., and Robert L. Wernli. The ROV Manual: A User Guide to Observation-class Remotely Operated Vehicles. Amsterdam: Butterworth-Heinemann, Print. Jones, Daniel O. B. "Using Existing Industrial Remotely Operated Vehicles For Deep-Sea Science." Zoologica Scripta 38.(2009): Academic Search Complete. Web. 3 Oct "Association for the Sciences of Limnology and Oceanography." Association for the Sciences of Limnology and Oceanography. N.p., n.d. Web. 03 Oct "National Instruments: Test, Measurement, and Embedded Systems." National Instruments: Test, Measurement, and Embedded Systems. N.p., n.d. Web. 03 Oct "CrustCrawler Robotics." - The Worlds Leader in Providing Cutting Edge Robotics Kits, Robotic Arms, ROV/AUV Thrusters, Bioloids, and Servos. N.p., n.d. Web. 03 Oct “Figure 1.1.” Diagram. ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles. Kidlington, GBR: Butterworth-Heineman, “Figure 2.” Diagram 1 and 2. Zoologica Scripta. Vol. 38, p42. Supplement Jan 2009.

18 QUESTIONS? COMMENTS? SUGGESTIONS?