underwater remotely operated vehicle (rov)

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Underwater Remotely Operated Vehicle (ROV) Team members: Sital Khatiwada, Shawn Swist, Matt Falbe, John Wallace, John Mccormack, Buddy Young, Lucas Lopez, Robert Swan Project Advisors: Dr. May-Win Thein, Dr. Wayne Smith, Collette Powers UNH ROV is an interdisciplinary engineering team dedicated towards the design and fabri- caon of an underwater remotely operated vehicle. This year’s iteraon of the ROV, known as Siren, was designed with constraints provided by the Internaonal MATE ROV Compeon and research specificaons, such as size, weight, power consumpon, and system capabilies. Design models of Siren were conceived through computer-aided modeling and numerical simulaons, and verified through prototyping and tesng pro- cesses. Several innovaons to legacy ROV designs include an overhauled propulsion sys- tem, further operator interacvity through virtual reality (VR) technology, faster onboard computer, and an opmized control plaorm. Ongoing tasks include implementaon of feedback control and communicaon with an Autonomous Surface Vehicle (ASV). Through innovave ideas, analycal tools, and robust engineering design, Siren presents an advanced underwater ROV plaorm capable of many aspects of research, compeon, and industrial applicaon. Modular Aluminum 80/20 Frame Quick component reposioning Enre frame can be rescaled as need arises Slide fastener system allows fine trim adjustment 6015-T5 Aluminum: 200 MPa Yield Strength 8 Thrusters with 2.87 lbf thrust force each available Single tube waterght electronics enclosure Special Thanks to: Dr. Marn Renken (Keyport NUWC), Tara Hicks Johnson, Sco Campbell, Joseph Gabriel Tradional vs. Angled Thruster orientaon tested Simulaon performed on both orientaons Angled orientaon found to provide x thrust Orientaon also provides complex maneuvers Allows for high precision during operaon Lightweight, compact underwater unit with high computaonal capabilies Modular chassis design with focus on ease of transportaon Addional degrees of freedom (DOF) for movement Opmal thrust and precision maneuverability without large power requirements Feedback control system capable of controlling depth and possibly orientaon Further improvement to user interface through implementaon of an Oculus Riſt Slight posive buoyancy for recovery during system failure Valve system for easy aachment and removal of electronics tray endcap Center of mass and buoyancy adjustment system Inial design showed potenal of heat buildup within electronics tray Heat simulaons performed with com- putaonal soſtware USB Extenders found to generate most heat while system is under load Aluminum electronics tray design allows for large heat sink within the tray Ambient water temperature adds fur- ther cooling capabilies Simulated under worst-case scenario, presented with no heat issues Mechanical arm controlled from surface through Leap 2-DOF requirement: rotaon and grip Moon of arm achieved through servos Servos not inherently waterproof, achieved through dis- assembly and reassembly in mineral oil Servos sealed with O-rings and Locte for waterproof as- surance Blue Robocs Bar30 Sensor allows for pressure, tempera- ture, and depth measurement with high accuracy Depth measurement will be used for depth feedback control Xbox 360 Controller serves as main user input device Buons mapped to specific funcons of ROV Camera feed transmied to Oculus Riſt Virtual Reality (VR) environment Oculus HUD to provide higher degree of accuracy and depth percepon Leap Moon Controller integrated into VR environ- ment Leap allows for precision control of mechanical arma- ture SSH-based system allows for system diagnoscs, sys- tem reboot, and other troubleshoong from surface Power supply provides primary power to all systems 48 V power stepped down to 12 V and 5 V, used by thrusters and microcontrollers, re- specvely Thrust modulaon provided by Raspberry Pi, Arduino MEGA controls pressure sensor and manipulator Camera feed transferred through isolated USB extender to surface staon All control programs executed through the Pi Drive code and data transfer modules ini- alized upon ROV startup Real-me communicaon between PC-Raspberry Pi–Arduino MEGA Sensor feedback directly to Pi and PC Feedback depth control code allows ROV to hold posion at desired depth MATE Competition Internaonal ROV Compeon, this year hosted at NASA Johnson Space Center Neu- tral Buoyancy Lab in Houston, TX Mission Tasks Mission to Europa Equipment Recovery Forensic Fingerprinng Deepwater Coral Study Securing an oil wellhead Research Applications ROV Leader-Follower System Use a signal light and opcal detecon array to control a fleet of ROVs ROV—ASV Communicaon Cross plaorm communicaon be- tween ROV and ASV teams Inial ‘ping’ tests for proof-of-concept ROV flashes a light, ASV sees the flash and replays the flash above the surface

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Page 1: Underwater Remotely Operated Vehicle (ROV)

Underwater Remotely Operated Vehicle (ROV) Team members: Sital Khatiwada, Shawn Swist, Matt Falbe, John Wallace, John Mccormack, Buddy Young, Lucas Lopez, Robert Swan

Project Advisors: Dr. May-Win Thein, Dr. Wayne Smith, Collette Powers

UNH ROV is an interdisciplinary engineering team dedicated towards the design and fabri-cation of an underwater remotely operated vehicle. This year’s iteration of the ROV, known as Siren, was designed with constraints provided by the International MATE ROV Competition and research specifications, such as size, weight, power consumption, and system capabilities. Design models of Siren were conceived through computer-aided modeling and numerical simulations, and verified through prototyping and testing pro-cesses. Several innovations to legacy ROV designs include an overhauled propulsion sys-tem, further operator interactivity through virtual reality (VR) technology, faster onboard computer, and an optimized control platform. Ongoing tasks include implementation of feedback control and communication with an Autonomous Surface Vehicle (ASV). Through innovative ideas, analytical tools, and robust engineering design, Siren presents an advanced underwater ROV platform capable of many aspects of research, competition, and industrial application.

Modular Aluminum 80/20 Frame

Quick component repositioning

Entire frame can be rescaled as need arises

Slide fastener system allows fine trim adjustment

6015-T5 Aluminum: 200 MPa Yield Strength

8 Thrusters with 2.87 lbf thrust force each

available

Single tube watertight electronics enclosure

Special Thanks to: Dr. Martin Renken (Keyport NUWC), Tara Hicks Johnson, Scott Campbell, Joseph Gabriel

Traditional vs. Angled Thruster orientation tested

Simulation performed on both orientations

Angled orientation found to provide x thrust

Orientation also provides complex maneuvers

Allows for high precision during operation

Lightweight, compact underwater unit with high computational capabilities

Modular chassis design with focus on ease of transportation

Additional degrees of freedom (DOF) for movement

Optimal thrust and precision maneuverability without large power requirements

Feedback control system capable of controlling depth and possibly orientation

Further improvement to user interface through implementation of an Oculus Rift

Slight positive buoyancy for recovery during system failure

Valve system for easy attachment and removal of electronics tray endcap

Center of mass and buoyancy adjustment system

Initial design showed potential of heat buildup within electronics tray

Heat simulations performed with com-putational software

USB Extenders found to generate most heat while system is under load

Aluminum electronics tray design allows for large heat sink within the tray

Ambient water temperature adds fur-ther cooling capabilities

Simulated under worst-case scenario, presented with no heat issues

Mechanical arm controlled from surface through Leap

2-DOF requirement: rotation and grip

Motion of arm achieved through servos

Servos not inherently waterproof, achieved through dis-assembly and reassembly in mineral oil

Servos sealed with O-rings and Loctite for waterproof as-surance

Blue Robotics Bar30 Sensor allows for pressure, tempera-ture, and depth measurement with high accuracy

Depth measurement will be used for depth feedback control

Xbox 360 Controller serves as main user input device

Buttons mapped to specific functions of ROV

Camera feed transmitted to Oculus Rift Virtual Reality (VR) environment

Oculus HUD to provide higher degree of accuracy and depth perception

Leap Motion Controller integrated into VR environ-ment

Leap allows for precision control of mechanical arma-ture

SSH-based system allows for system diagnostics, sys-tem reboot, and other troubleshooting from surface

Power supply provides primary power to

all systems

48 V power stepped down to 12 V and 5 V,

used by thrusters and microcontrollers, re-

spectively

Thrust modulation provided by Raspberry

Pi, Arduino MEGA controls pressure sensor

and manipulator

Camera feed transferred through isolated

USB extender to surface station

All control programs executed through the

Pi

Drive code and data transfer modules ini-

tialized upon ROV startup

Real-time communication between

PC-Raspberry Pi–Arduino MEGA

Sensor feedback directly to Pi and PC

Feedback depth control code allows ROV

to hold position at desired depth

MATE Competition

International ROV Competition, this year

hosted at NASA Johnson Space Center Neu-

tral Buoyancy Lab in Houston, TX

Mission Tasks

Mission to Europa

Equipment Recovery

Forensic Fingerprinting

Deepwater Coral Study

Securing an oil wellhead

Research Applications

ROV Leader-Follower System

Use a signal light and optical detection

array to control a fleet of ROVs

ROV—ASV Communication

Cross platform communication be-

tween ROV and ASV teams

Initial ‘ping’ tests for proof-of-concept

ROV flashes a light, ASV sees the flash

and replays the flash above the surface