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Team Members:Santos Ortiz (TL)Christopher MunozVicente Mora
Instructor: Raresh PascaliIndustry Advisor:Faculty Advisor:
Team AquaForce1
Faqua
Outline
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ObjectiveGoalsWhat is a Remote Operated Vehicle
(ROV)?History/BackgroundCompetitionComponentsCost Analysis Gantt ChartWork 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.
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4
What is a ROV?
“Figure 1.1.” Diagram. ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles. Kidlington, GBR: Butterworth-Heineman, 2007.
“Figure 2.” Diagram 1 and 2. Zoologica Scripta. Vol. 38, p42. Supplement Jan 2009.
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History of the ROVCase 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 1966.
• First portable small-size observation ROV.
• World’s deepest diving ROV at 35,791 feet (10,909 meters).
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COMPETITION:
• Three categories: Explorer, Ranger, and Scout.• International Explorer competition involves one
mission that consist of four task.
2013 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.
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2013 Competition Props
Science Interface Assembly (SIA) in BIA.
Backbone Interface Assembly (BIA).
SIA bulkhead connector.
Secondary NODE.
Secondary node on elevator.
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Explorer Competition Scoring:
• Mission: 300 + 10 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.
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ROV COMPONENTS
THRUSTER
PRESSURE TANKS
CAMERA
LIGHTING
ARM
CONTROL SYSTEM
TETHER
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THRUSTERS
SeamorSeabotix Crust Crawlers
THRUSTER PERFORMANCE/COST
Thruster Electrical Req.Thrust
Performance
DepthCost
(USD)
SeaBotix 19.1 VDC 6 lbs 500 ft $700
Crust Crawler 12 VDC to 50VDC
15 lbs 300 ft $600
Seamor 24VDC or48VDC
10 lbs 1000 ft $3,500
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• Design and manufacture
CAMERA• Sea Viewer• Webcam• Manufacture housing
• Clear Tubing• Power Cables• Ethernet Cable
TETHER
ARM
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CONTROLLER SYSTEM
Seamate from MATE Arduino LabView Single Board
COST COMPARISON Price (USD)
LabView Full Software $700
CONTROL BOARDS Price (USD)
LabView $700
Seamate $325
Arduino $200
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Cost Analysis
Item Cost 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 Source On-hand
Total: $5,900
COST ANALYSIS
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GANNT CHART
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GANNT ZOOM
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WBS AquaForce’s ROV15%
Phase I50%
Research
50%
Proposal
100%
Competition
80%
ROV components
80%
Market Researc
h50%
Competition Rules
50%
Competition Missio
n 30%
Cost Analysis
50%
ROV Component
50%
Software
Required
50%
Phase II0%
Design 1%
Frame 0%
LabView Program
ing 0%
Circuit
0%
Select
Materials
0%
Analysis 0%
CAD Analysis
0%
Analyze Material
0%
Electrical
Analysis0%
Hydraulic Analy
sis0%
Phase III0%
Fabrication
0%
Redesign
0%
Material Purchasi
ng 0%
Frame
0%
Tendering
0%
Testing 0%
Buoyance Testing
0%
Leaking Test
0%
Thruster
Testing 0%
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REFERENCES• "MATE - Marine Advanced Technology Education :: Home." MATE - Marine
Advanced Technology Education :: Home. N.p., n.d. Web. 03 Oct. 2013.• "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. 2013.
• "SeaBotix® Inc." SeaBotix® Inc. N.p., n.d. Web. 03 Oct. 2013.• Christ, Robert D., and Robert L. Wernli. The ROV Manual: A User Guide to
Observation-class Remotely Operated Vehicles. Amsterdam: Butterworth-Heinemann, 2007. Print.
• Jones, Daniel O. B. "Using Existing Industrial Remotely Operated Vehicles For Deep-Sea Science." Zoologica Scripta 38.(2009): 41-47. Academic Search Complete. Web. 3 Oct. 2013.
• "Association for the Sciences of Limnology and Oceanography." Association for the Sciences of Limnology and Oceanography. N.p., n.d. Web. 03 Oct. 2013.
• "National Instruments: Test, Measurement, and Embedded Systems." National Instruments: Test, Measurement, and Embedded Systems. N.p., n.d. Web. 03 Oct. 2013.
• "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. 2013.
• “Figure 1.1.” Diagram. ROV Manual: A User Guide for Observation Class Remotely Operated Vehicles. Kidlington, GBR: Butterworth-Heineman, 2007.
• “Figure 2.” Diagram 1 and 2. Zoologica Scripta. Vol. 38, p42. Supplement Jan 2009.
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