1. Rochester Institute of Technology
Design Project Management: Boeing Underwater Robotic Technologies [R13201]
September 18, 2018
Rochester Institute of Technology

2. Rochester Institute of Technology
Outline
DPM – Project Definition
Current progress
Project Ideas in the following areas:
Limited Bandwidth Communication
Navigation Systems
Energy Systems
Payloads and Sensor Systems
Autonomy
Summary of Project Ideas
Next Steps
September 18, 2018
Rochester Institute of Technology

3. DPM – Project Definition
Conducted interviews with invested faculty members
Project Background/Research
Voice of the Customer/Objective Tree
Functional Decomposition
Metrics and Specifications
House of Quality
Risk Management
Engineering Analysis
Feasibility
September 18, 2018
Rochester Institute of Technology

4. Rochester Institute of Technology
Agenda
Limited Bandwidth Communication
Navigation Systems
Autonomy
Energy Systems
Payloads and Sensor Systems
September 18, 2018
Rochester Institute of Technology

5. Limited Bandwidth Communication Projects
There are two emerging communication technologies, Laser and LED. For each of these technologies, the proposed project consists of:
Creation of a model to optimize data transfer rates and range for laser and LED wavelengths in various conditions.
Testing the commercial or in-house manufactured optical system to verify the results of the model and pursue longer range models and tests.
Manufacturing a waterproof housing for both the communication device and the receiver.
This project could be pursued simultaneously for both Laser and LED methods of communication. Only one housing should be developed but it should be compatible with both systems.
September 18, 2018
Rochester Institute of Technology

6. Rochester Institute of Technology
Agenda
Limited Bandwidth Communication
Navigation Systems
Autonomy
Energy Systems
Payloads and Sensor Systems
September 18, 2018
Rochester Institute of Technology

7. Navigation Systems – Proposed Projects
Precision Operations:
Design a robotics rig which accomplishes the following:
Identifying and avoiding obstacles
Delivering payloads
Navigating both known and unfamiliar territory
Endurance Operations:
Minimizing drift over time
Maximizing submersion times
Navigating effectively for long periods
September 18, 2018
Rochester Institute of Technology

8. Navigation Systems – Precision Operations
For this project a student-designed rig would accomplish tasks similar to those typically seen in the AUVSI/ONR Underwater Vehicle competition. Possible tasks include:
Navigating a specific course path while identifying and avoiding obstacles
Delivering specific payloads
Precision navigation using a visual camera or other high accuracy instrumentation
Possibly employing sensors to locate oil or other targets
This project would likely be a long term project due to the integration of the various systems required.
September 18, 2018
Rochester Institute of Technology

9. Navigation Systems – Endurance Operations
This project would utilize a student-designed rig to focus on the endurance aspects of the system, including:
Maximizing submersion times while minimizing drift in GPS-denied environments.
Navigating effectively for long periods
Identifying and avoiding obstacles
Possibly employing sensors to do carry out these objectives within the framework of a sensing mission
Once again, this would likely be a long term project due to the integration of the various systems required.
September 18, 2018
Rochester Institute of Technology

10. Rochester Institute of Technology
Agenda
Limited Bandwidth Communication
Navigation Systems
Autonomy
Energy Systems
Payloads and Sensor Systems
September 18, 2018
Rochester Institute of Technology

11. Benchmark of Current Collegiate Autonomous Technology/Research
University of Michigan - Perceptual Robotics Laboratory
Simultaneous localization and mapping (SLAM) Algorithms
University of Tokyo - URA Lab
R1 (long Range AUV)
MIT
SLAM Algorithm
Heriot-Watt – Ocean Systems Laboratory
Fast Marching (FM) algorithm
Simultaneous localization and mapping (SLAM) Algorithms:
To test and validate these algorithms, they have developed a new multi-autonomous underwater vehicle
Mission planning software allows the user to graphically layout a mission trajectory over a geo-registered image or nautical navigation chart and to specify parameters such a depth, speed, goal radius, timeout, etc
R1 (long Range AUV)
For autonomous free swimming, the robot must be able to determine its own geographical position and avoid collision with obstacles.
The precise, high-speed control of a robotic arm underwater is being formulated for use in the autonomous retrieval of undersea specimens
MIT
An autonomous underwater vehicle (AUV) was achieved that integrates state of the art simultaneous localization and mapping (SLAM) into the decision processes
The AUV requires only simple sensors and operates without navigation equipment such as Doppler Velocity Log, inertial navigation or acoustic beacons
The system includes a forward looking sonar and a set of simple vehicle sensors
Heriot Watt
Fast Marching (FM) algorithm, is analyzed and extended to improve the trajectory planning process for mobile robots.
Reliability of trajectory planners has been improved by introducing the Fast Marching algorithm as a new basis for sampling based trajectory planning methods in the continuous domain
The Fast Marching method, as one of these trajectory planning technique is similar in spirit to classical grid-search algorithms such as the A* algorithm. This led us to develop a new algorithm, called FM*, that combines the exploration efficiency of the A* algorithm with the accuracy of the Fast Marching method. For these reasons, the FM* algorithm opens new possibilities for planning trajectories in wide and continuous underwater environments.
Trajectory planning methods are applied to the underwater environment
September 18, 2018
Rochester Institute of Technology

12. Autonomy – RIT Research
Dr Sahin – Electrical Engineering
Faculty advisor to Robotics Club
He has research experience related to autonomous systems
RIT Robotics Club
Already has autonomous systems experience
Currently compete in IGVC (Intelligent Ground Vehicle Competition)
Teams design and build an autonomous ground vehicle capable of completing several difficult challenges
Dr. Kolodziej
Imaging Science Project
Unmanned Aerial Vehicle project for RIT imaging science
Dr. Walter
Swarm Robots Research (with Dr. Sahin)
Autonomous Mobile Robots at Imagine RIT
Dr. Sahin
His current research interests that may be of interest to Boeing are:
System of Systems Simulation and Modeling
Swarm Intelligence - collective behavior of decentralized, self-organized systems
Robotics
Decision Theory - identifying the values, uncertainties and other issues relevant in a given decision, its rationality, and the resulting optimal decision
Pattern Recognition - assignment of a label to a given input value
Modular Micro Robot Design and Control
Operating System Development for a Colony of Microrobots
He has completed research in the following areas that may be of interest to Boeing:
Testability of a Swarm Robot Using a System of Systems Approach and Discrete Event Simulation
Swarm Intelligence and Colonization of Microrobots
Autonomous Colonization and Self-organization in Autonomous Mobile Micro Robots
Robotics Club
Already has autonomous systems experience
Currently compete in IGVC (Intelligent Ground Vehicle Competition)
Teams design and build an autonomous ground vehicle capable of completing several difficult challenges
Do not see problem in applying their autonomous systems to an underwater environment
Dr Kolodziej
Unmanned Aerial Vehicle project for RIT imaging science
non-military project.
UAV carries camera(s) up into the air, hovers over a specific location, maintains stability and takes clear bird’s-view photograph/films
Replaces the use of actual aircrafts or helicopters
Current project consists of a remote control input.
Working on converting this vehicle autonomous
embedded programs, memory storage, and internal built-in processor(s) are required along with the GPS communication
Dr. Walter
Swarm Robots Research
Individual robot has to be small in size – roughly about the size which could easily fit inside of a aircraft wind
Expandable
Consists of aerial, marine and ground robots
Collect data – send & receive data
Decentralized control
Cooperative operation
Much like ants, bees and birds
If one robot fails, others cover-up that lost robots tasks as well
4 Projects to Visit at Imagine RIT
September 18, 2018
Rochester Institute of Technology

13. Rochester Institute of Technology
Autonomy Ideas
Potential Ideas
Swarm robots application
Entry into the Association for Unmanned Vehicle Systems International (AUVSI) RoboSub competition
Long term goal
Dr. Sahin proposed 2 ideas that the Robotics Club could work on
Basic autonomy in an underwater environment
Autonomy + Navigation in a GPS-denied underwater environment
Robosub
Co-sponsored by the Office of Naval Research (ONR), the goal of this competition is to advance the development of Autonomous Underwater Vehicles (AUVs) by challenging a new generation of engineers to perform realistic missions in an underwater environment. This event also serves to foster ties between young engineers and the organizations developing AUV technologies.
September 18, 2018
Rochester Institute of Technology

14. Rochester Institute of Technology
Agenda
Limited Bandwidth Communication
Navigation Systems
Autonomy
Energy Systems
Payloads and Sensor Systems
September 18, 2018
Rochester Institute of Technology

15. Energy Systems – RIT Strengths/Research
Thermoelectric Research (Dr. Stevens)
Thermoelectric energy recovery
Fuel Cell Research (Dr. Kolodziej & Dr. Kandlikar)
PEM Fuel Cell
SOFC Fuel Cell
Fuel Cell Laboratory
Study PEM fuel cells supplied with hydrogen and oxygen
Past Senior Design Projects
Solar Stirling Engine
Thermoelectric Power Pack
Photovoltaic Energy Harvesting
Micro-Hydro Generator
September 18, 2018
Rochester Institute of Technology

16. Energy Systems – Project Ideas
Thermoelectrics
Using excess heat to generate power
Heat produced from batteries
Heat produced from on-board electronics
Would need a method of simulating heat loss within the system
Obtain engineering specifications and power inputs
Design a system that would simulate these inputs
Underwater Solar Panels
Absorb energy from the blue-green portion of the visible light spectrum ( nanometers)
Micro-Hydro Generator
Pull behind hydro-foil
Propeller turbine
September 18, 2018
Rochester Institute of Technology

17. Energy Systems – Project Ideas
Fuel Cell
Look at designing a fuel cell that could meet the power requirements
Possibly use salt water as an electrolyte with magnesium based fuel cell
Stirling Engine
Could be used in conjunction with a fuel cell
Could be connected to any alternative heat source
Salt Water as Fuel
Focused on feasibility
Look at how RF signals affect the chemical composition of salt water
Energy ratios
September 18, 2018
Rochester Institute of Technology

18. Rochester Institute of Technology
Agenda
Limited Bandwidth Communication
Navigation Systems
Autonomy
Energy Systems
Payloads and Sensor Systems
September 18, 2018
Rochester Institute of Technology

19. Innovative Payload and Sensor Ideas
Modular sensor interface
Creates a customizable end product for the customer
Swarm Robotics
Opportunity to complete multiple objectives simultaneously during a mission
Air Muscle actuated robotic arm
Competitors in the oil and gas segment utilize hydraulic actuated robotic arms.
RIT has expertise with air muscles and there’s an opportunity for them to be a viable alternative to hydraulics
September 18, 2018
Rochester Institute of Technology

20. Modular Sensor/Payload Interface
Central sensor interface that allows customers to easily add additional sensors for specific jobs.
Project idea:
Swappable bays
Set of common sensor packages
Oil/Gas Detection
Ocean mapping
Marine life monitoring
Customizable aftermarket bay for customer retrofitting
September 18, 2018
Rochester Institute of Technology

21. Swarm Robotics Storage
Collaborative small-scale robots that are released by the main vessel.
Project ideas:
Storage, launch, and collection system
Develop a method to safely store robots that also provides an easy and reliable method to release and collect the swarm during operation
Possible swappable payload bay
September 18, 2018
Rochester Institute of Technology

22. Air Muscle Air Muscle actuated Robotic Arm
RIT has a significant background in air muscle design and research from several past Senior Design projects
Comparable to competitors’ hydraulic robotic arm (Kraft TeleRobotics)
Advantages
Power-to-size ratio greater than hydraulic system
Possibility for dexterity (robotic hand as opposed to clamp)
Provides more capabilities for the customer
Disadvantages
Compressor size constraint
Non-linear output
Vessel redesign to allow additional load support
Kraft TeleRobotics hydraulic arm
RIT Biomimetic Crab with air muscles
September 18, 2018
Rochester Institute of Technology

23. Air Muscle Project Ideas:
Air muscle design and development for high pressure marine environments
Assess the feasibility of using air muscles at great depth in the sea
Testing of incompressible fluids as a substitute to air
Air muscle actuated arm & hand
Design and development of a robotic arm with the dexterity of a hand
Glove Control
Operator uses glove to control movements of robotic arms
RIT Air Muscle Artificial Limb
September 18, 2018
Rochester Institute of Technology

24. Summary of Project Ideas
Limited Bandwidth Communications
Laser-based communication development
LED-based communication development
Navigation Systems
Precision-Based Navigation Capabilities
Endurance-Based Navigation Capabilities
Energy Systems
Optimization (thermoelectrics, underwater solar panels, hydro-foil)
New energy system (fuel cell, stirling engine, salt water)
Payloads and Sensor Systems
Air Muscle actuated robotic arm
Storage and launch of swarm robots (dependent on autonomy)
Modular Sensor Interface
Autonomy
Swarm robots
AUVSI Competition
Dr. Sahin’s idea proposals
September 18, 2018
Rochester Institute of Technology

25. Rochester Institute of Technology
Next Steps
RIT Team
Develop functional decompositions for project ideas
Develop metrics and specifications
Brainstorm plausible solutions
Boeing/Kevin
Provide feedback to RIT Team on project ideas
Did we fully capture your needs?
Which ideas should be pursued?
Which areas need more direction?
September 18, 2018
Rochester Institute of Technology