1. Rochester Institute of Technology
Design Project Management: Boeing Underwater Robotic Technologies [R13201]
November 10, 2018
Rochester Institute of Technology

2. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of VOC
VOE: functional decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

3. Rochester Institute of Technology
Current Progress
Reviewed our VOC, campus research, and preliminary project ideas with Boeing contact (Kevin Meredith)
Revised/reworked project ideas based off of input from Kevin
Proceeded with VOE
November 10, 2018
Rochester Institute of Technology

4. Rochester Institute of Technology
Project Roadmap
November 10, 2018
Rochester Institute of Technology

5. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of VOC
VOE: functional decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

6. Limited Bandwidth Communication - VOC
Category
Number
Description
Communicate in Underwater Environment
CA1
Communicate to surface
CA2
Communicate through surface
CA3
Communicate underwater
CA4
Suitable for long range
CA5
Suitable for short range
CA6
Fast communication
CA7
Secure communication
CA8
Operates through most water conditions
Attributes A1
Easy to implement A2
Interface/interchangable A3
Low power consumption
Constraints
CO1
Waterproof
CO2
Untethered
CO3
Utilizes new technologies
CO4
Fits within budget
Easy to Maintain M1
Requires infrequent maintenance M2
Easy to repair M3
Durable/rugged M4
Corrosion-resistant
Change in the VOC:
Boeing is also interested in pursuing acoustic communications not just optical methods.
Our objective tree doesn’t need to be changed to include that option as optical systems weren’t specified.
November 10, 2018
Rochester Institute of Technology

7. Limited Bandwidth Communication – Functional Decomposition
November 10, 2018
Rochester Institute of Technology

8. Limited Bandwidth Communication - HOQ
Acoustic House of Quality
November 10, 2018
Rochester Institute of Technology

9. Limited Bandwidth Communication – Potential Concepts
Dr. Kwasinski
He is very interested in guiding all communication teams but doesn’t have any current research in this area. His background is in laser communication and signal processing.
One of these projects will be run with in the Fall
Acoustic Communication
Laser Communication
LED Communication
November 10, 2018
Rochester Institute of Technology

10. Limited Bandwidth Communication – Areas of Uncertainty
Nature of the projects
These projects rely heavily on electrical and computer engineering skill sets so apportioning the workload correctly may be difficult.
Test Location
The use of the pool as a test facility needs to be investigated. If unavailable or non-ideal due to turbidity or range, another easily accessed facility needs to be found.
November 10, 2018
Rochester Institute of Technology

11. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of Road Map
VOE: Functional Decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

12. Rochester Institute of Technology
Energy System Road Map
November 10, 2018
Rochester Institute of Technology

13. Energy Systems – Functional Decomposition Project 1
November 10, 2018
Rochester Institute of Technology

14. Energy Systems – Functional Decomposition Project 2
November 10, 2018
Rochester Institute of Technology

15. Energy Systems – Metrics & Specs Project 1
Number
Category
Rank of Importance
Description
Metrics
CN1
Attributes 3
The thermoelectric operate in broad temperature ranges
Determine the minimum and maximum temperatures the thermoelectric can handle (°C)
CN2
The thermoelectrics interface with heat source
Yes or No
CN3
The thermoelectric are reliable
Determine operating time (days)
CN4
Power Generation 9
The thermoelectric generates power in underwater conditions
Measure the amount of power produced (W)
CN5
Increase the lifetime for which the thermoelectric can produce power
Determine the efficiency (%)
CN6
Increase the efficiency of the thermoelectric
Measure ratio of energy supplied and energy consumed (%)
CN7
Minimize the amount of energy that decays over time
Measure amount of energy lost over time
CN8
Heat Source
The heat source provides a constant source of heat
Measure the amount of heat produced (°C)
CN9
The heat source provides a variable source of heat
CN10
The heat source can operate for a long period of time
Measure the time for which the heat source can operate (hours)
CN11
Constraints
The system fits within the budget provided
Calculate the total cost (US$)
CN12
The system fits within packaging constraints
Measure the size of the system (m2)
CN13
The thermoelectric uses surrounding water as a heat sink
CN14
The system is waterproof
CN15
The system is untethered
CN16
Easy to Maintain
Requires infrequent maintenance
Measure operating time (days)
CN17
The system is easy to repair
CN18
Durable/rugged
Measure the amount of pressure the system can handle (psi)
November 10, 2018
Rochester Institute of Technology

16. Energy Systems – Metrics & Specs Project 2
Number
Category
Rank of Importance
Description
Metrics
CN1
Attributes 3
The system operates in broad temperature ranges
Determine the minimum and maximum temperatures the device can handle (°C)
CN2
The device interfaces with standard thermoelectrics
Yes or No
CN3
The device is reliable
Determine operating time (days)
CN4
Power Management 9
The device manages power in underwater conditions
CN5
The device optimizes the amount of power produced
Measure the amount of power produced (W)
CN6
The thermoelectric induced voltage changes with temperature
Measure the voltage produced (V)
CN7
The thermoelectric induces a current
Measure the current produced (A)
CN8
The device automatically varies resistance depending on input parameters
Measure the resistances over a period of time (Ω)
CN9
Minimize the time delay
Measure the time to obtain maximum power produced (sec)
CN10
Data Acquisition
The device obtains temperature measurements
Measure the temperature (°C)
CN11
The device obtains power measurements
CN12
The device outputs data in efficient and visual manor
Perform survey to get input from other individuals
CN13
Constraints
The system fits within the budget provided
Calculate the total cost (US$)
CN14
The system fits within packaging constraints
Measure the size of the system (m2)
CN15
The device interfaces with the underwater thermoelectric system MSD
CN16
The system is waterproof
CN17
The system is untethered
CN18
Easy to Maintain
Requires infrequent maintenance
Measure operating time (days)
CN19
The system is easy to repair
CN20
Durable/rugged
Measure the amount of pressure the system can handle (psi)
November 10, 2018
Rochester Institute of Technology

17. Rochester Institute of Technology
Energy Systems - HOQ
Customer Requirements
Customer Weights
Determine the minimum and maximum temperatures the device can handle (°C)
Determine operating time (days)
Measure the amount of power produced (W)
Determine the efficiency (%)
Measure ratio of power supplied and energy consumed (%)
Measure amount of energy lost over time
Measure the amount of heat produced (°C)
Calculate the total cost (US $)
Measure the size of the system (m2)
Measure the amount of pressure the system can handle (psi)
Yes or No
The system operates in broad temperature ranges 3 9
The thermoelectrics interface with heat source
The thermoelectrics are reliable
The thermoelectric generates power in underwater conditions
Increase the lifetime for which the thermoelectric can produce power
Increase the efficiency of the thermoelectric
Minimize the amount of energy that decays over time
The heat source provides a constant source of heat
The heat source provides a variable source of heat
The heat source can operate for a long period of time
The system fits within the budget provided
The system fits within packaging constraints
The thermoelectric uses surrounding water as heat sink
The system is waterproof
The system is untethered
Requires infrequent maintenance
The system is easy to repair
Durable/rugged
Raw score 54
135
270
243
108
189 81 90 36
Relative Weight 3% 9%
17%
16% 7%
12% 5% 6% 2%
November 10, 2018
Rochester Institute of Technology

18. Rochester Institute of Technology
Energy Systems - HOQ
Customer Requirements
Customer Weights
Determine the minimum and maximum temperatures the device can handle (°C)
Determine operating time (days)
Measure the amount of power produced (W)
Measure the voltage produced (V)
Measure the current produced (A)
Measure the resistances over a period of time (Ω)
Measure the time to obtain maximum power produced (sec)
Measure the temperature (°C)
Perform survey to get input from other individuals
Calculate the total cost (US $)
Measure the size of the system (m2)
Measure the amount of pressure the system can handle (psi)
Yes or No
The system operates in broad temperature ranges 3 9
The device interfaces with standard thermoelectrics
The device is reliable
The device manages power in underwater conditions
The device optimizes the amount of power produced
The termoelectric induced voltage changes with temperature
Ther thermoelectric induces a current
The device automatically varies resistance depending on input parameters
Minimize the time delay
The device obtains temperature measurements
The device obtains power measurements
The device outputs data in an efficient and visual manor
The system fits within the budget provided
The system fits within packaging constraints
The device interfaces with the underwater thermoelectric system MSD
The system is waterproof
The system is untethered
Requires infrequent maintenance
The system is easy to repair
Durable/rugged
Raw score 54
405
333
243
189
135
171 27 81
117
Relative Weight 3%
21%
17%
13%
10% 7% 9% 1% 4% 6%
November 10, 2018
Rochester Institute of Technology

19. Energy Systems – Potential Concepts
Project 1: Design a system to test thermoelectric performance in underwater applications
Variable heat source to test performance with different temperatures
Use water as heat sink
A potential senior design for a combined group of ME and EE
Project 2: Design a maximum power point tracker. Automatically changing the resistance so the power output is always maximum
A more efficient and cost effective MMPT
is needed to enhance research in thermoelectric
performance
A potential senior design for a combined
group of EE and ME
November 10, 2018
Rochester Institute of Technology

20. Energy Systems – Areas of Uncertainty
Project 1:
Unknown values for heat loss
Unknown space constraint
Project 2:
Unknown temperature range
EE faculty member
November 10, 2018
Rochester Institute of Technology

21. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of VOC
VOE: functional decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

22. Navigation Systems - VOC
Category
Number
Description
Navigate Underwater
CA1
Navigate effectively for long periods
CA2
Able to avoid obstacles
CA3
Maximize submersion times
CA4
Navigate unfamiliar territory
CA5
Navigate known territory
Attributes A1
Efficient movements A2
Minimize drift A3
Undetectable
Constraints
CO1
Waterproof
CO2
Untethered
CO3
Fits within budget
Easy to Maintain M1
Requires infrequent maintenance M2
Easy to repair M3
Durable/Rugged M4
Corrosion-resistant M5
Easily upgradable M6
Reliable
Changes:
Increased importance of A2, “Minimize drift”
November 10, 2018
Rochester Institute of Technology

23. Navigation Systems – Functional Decomp
Functional Decomposition for First Iteration:
November 10, 2018
Rochester Institute of Technology

24. Navigation Systems – Functional Decomp
Functional Decomposition for Later Iterations:
November 10, 2018
Rochester Institute of Technology

25. Navigation Systems – Metrics & Specs
Metric (direction)
Target
Marginal
Source
Function / Constraint
Computation Time [msec] (↓) 4 10
Receive/Correct/Calculate/Store Navigation Data (F)
Drift Accumulation [%distance traveled CEPR] (↓)
0.04
0.1
"Position Error Correction…" - Donovan
Minimize Drift ( C )
Detectable Range [m] (↓) 50
250
Doppler Velocity Logger Range
Low Probability of Detection ( C )
Data Processing Speed [GHz] (↑) 2 1
Cornell 'Killick' Autonomous Underwater Vehicle
Heat Generation [W] (↓) 3
Low Power Consumption ( C)
Average Power Consumption [W] (↓) 5 12
Benchmark product average power consumption
Velocity Error [cm/s] (↓) 6
RD INSTRUMENT WORKHORSE DVL Spec
Minimize Drift ( C)
Obstacle Detection Range [m] (↑)
200
Able To Avoid Obstacles ( C)
November 10, 2018
Rochester Institute of Technology

26. Navigation Systems - HOQ
November 10, 2018
Rochester Institute of Technology

27. Navigation Systems – Potential Concepts
Basic Navigation Proof of Concept
First navigation MDS project, for Fall of Manually maneuver navigation system underwater demonstrating accurate position data and drift minimization.
Integration of Navigation System and Robot
Expand functionality to limited decision making based on real time position data.
November 10, 2018
Rochester Institute of Technology

28. Navigation Systems – Areas of Uncertainty
Drift Characteristics of Dr. Crassidis’ System
Novel system, no similar systems in current use
CPU Requirements for Dr. Crassidis’ System
November 10, 2018
Rochester Institute of Technology

29. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of VOC
VOE: functional decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

30. Payloads and Sensors - VOC
Category
Number
Description
Sensors S1
Able to interpret data S2
Low power consumption S3
Able to collect desired data S4
Able to detect objects/obstacles
Payloads P1
Able to deliver payload P2
Eliminate self-interference
Attributes A1
Reliable A2
Compatibility with platform A3
Minimize weight A4
Low cycle time A5
Modular
Constraints
CO1
Waterproof
CO2
Fits within package
CO3
Fits within budget
CO4
Untethered
Easy to Maintain M1
Requires infrequent maintenance M2
Easy to repair M3
Durable/rugged M4
Corrosion-resistant
Updates:
Met with Reginald Rogers, assistant professor – chemical engineering
Research in carbon nanotubes
Determined possible MSD and Thesis projects
Completed project roadmap
Completed functional decomposition
Started feasibility analysis
November 10, 2018
Rochester Institute of Technology

31. Payloads and Sensors – Functional Decomp
November 10, 2018
Rochester Institute of Technology

32. Payloads – Metrics & Specs
November 10, 2018
Rochester Institute of Technology

33. Sensors – Metrics & Specs
November 10, 2018
Rochester Institute of Technology

34. Payloads and Sensors - HOQ
November 10, 2018
Rochester Institute of Technology

35. Payloads and Sensors – Potential Concepts
McKibben Muscle
Design and development of a McKibben Muscle actuated robotic arm
Hydraulic McKibben Muscle (salt water)
Swappable bay/Basic sensor suite
Interchangeable payload/sensor bays
Allows for more customizability to end users
Basic sensor suite allows for basic robotic function
November 10, 2018
Rochester Institute of Technology

36. Payloads and Sensors – Areas of Uncertainty
Test Facility
RIT pool would be an adequate body of water for testing if design works underwater
Boeing and Hydroacoustics, Inc. have testing facilities that could potentially provide underwater, high pressure testing
Project Timing
Dependent on Boeing’s interest and budget
November 10, 2018
Rochester Institute of Technology

37. Rochester Institute of Technology
Outline
Current Progress
Project Roadmap
Overview of VOC
VOE: functional decomposition
Metrics, Specs, & HOQ
Potential Concepts
Areas of Uncertainty
5 Areas of Interest:
Limited Bandwidth Communications
Energy Systems
Navigation Systems
Payloads and Sensors
Autonomous Systems
November 10, 2018
Rochester Institute of Technology

38. Autonomous Systems - VOC
Autonomy consists of the integration of these 5 areas:
Objective Tree/VOC
November 10, 2018
Rochester Institute of Technology

39. Autonomous Systems – Functional Decomposition
November 10, 2018
Rochester Institute of Technology

40. Autonomous Systems – Functional Decomposition (Swarm Robotics)
November 10, 2018
Rochester Institute of Technology

41. Autonomous Systems – Metrics & Specs
November 10, 2018
Rochester Institute of Technology

42. Autonomous Systems - HOQ
November 10, 2018
Rochester Institute of Technology

43. Autonomous Systems – Potential Concepts
Underwater Line-Following Robot
Consists of:
Development of thrusters and propellers
Development of simple line-following algorithm
Underwater Swarm Robots
Initial Project:
2 robots work together to accomplish a limited number of tasks
Incorporate acoustic communication and navigation from previous Senior Design Projects
Later Projects:
3+ robots work together to accomplish many specified tasks
Possibility of incorporating LED or laser communication
November 10, 2018
Rochester Institute of Technology

44. Autonomous Systems – Areas of Uncertainty
Budget
Will receive from Boeing, but how much?
Government Regulations
International Traffic in Arms Regulations (ITAR)
Test Location
The use of the pool as a test facility needs to be investigated. If unavailable or non-ideal due to turbidity or range, another easily accessed facility needs to be found.
November 10, 2018
Rochester Institute of Technology

45. Summary of Potential Concepts
Limited Bandwidth Communications
Acoustic Communication
Laser Communication
LED Communication
Navigation Systems
Basic Navigation Proof of Concept
Integration of Navigation System with Robot
Energy Systems
Underwater Thermoelectric Potential
Power Optimization
Payloads and Sensor Systems
McKibben Hydraulic Muscle
Swappable bay/Basic sensor suite
Autonomy
Underwater Line-Following Robot
Underwater Swarm Robotics
November 10, 2018
Rochester Institute of Technology

46. Rochester Institute of Technology
Questions
Which of these project ideas seem the most plausible?
Which of these project ideas seem the least plausible?
Can you think of any project ideas we haven’t covered in our roadmap?
November 10, 2018
Rochester Institute of Technology