Harrington Middle School. Team: The Veterans. Members: Kyle Bauer, Hollyanne Clemence, Ben Friedman, Jason Jetter, Glenn Hubbard, Anson Sheu

Transcription

1 Harrington Middle School Team: The Veterans Members: Kyle Bauer, Hollyanne Clemence, Ben Friedman, Jason Jetter, Glenn Hubbard, Anson Sheu 1

2 Design Notebook 2015 SeaPerch Challenge Mount Laurel School District Harrington Middle School HMS SeaBots The Veterans Maureen Barrett

3 Table of Contents Page Number Page Description 4 List of Figures and Tables 5 References II 6 Naval Engineering Research 7 Learning Modules 8 Learning Modules (continued) 9 Learning Modules (continued) 10 Learning Modules (continued) 11 Learning Modules (continued) 12 Learning Modules (continued) III 13 Design, Engineering, and Manufacturing IV 14 Naval Scenarios 15 Naval Scenarios (continued) 16 Naval Scenarios (continued) 17 Naval Scenarios (continued) V 18 Teamwork, Company Flow Chart 19 Daily Work Journals 20 Daily Work Journals (continued) 21 Daily Work Journals(continued) 22 Job Descriptions 23 Job Descriptions 24 Job Descriptions VI 25 Materials 3

4 List of Figures and Tables Figure 1 page 6 this picture is a diagram of buoyancy forces OLD/PHY313/doku.php?id=lectures:1 Figure 2 page 13 Seaperch mission ladder Figure 3 page 13 Seaperch mission pipes Figure 4 page 13 Seaperch mission tagets Figure 5 page 14 Engineering Design Process Figure 6 page 18 Company Flow Chart Figure 7 page 24 Team Budget Figure 8 page 24 Items Included in SeaPerch 4

5 References Naval Scenario References: technology.com/features/featuresaving submariners rise rovs sailor s navy/ technology.com/news/newscanadian navy orders rovs aurora syste ms mag.com/articles/2014/11/aosl uses saab seaeye falcon rov in ic eberg warning research.html Ben s Scorpio ROV naval scenario source modules.html videos.html 5

6 II. Naval Engineering Research To design and construct a SeaPerch ROV our team considered and reviewed principals of physics and how these laws would affect the operation of our ROV. When deciding what size and shape the ROV could be we know that this will directly affect the ROV s performance. A large wide ROV will not be as nimble as a small narrow design. We also know that when we place our motors on the ROV we should place them as close to the ROV s center of gravity as possible for the best performance. If we placed our motors far from the ROV s center of gravity this would result in the ROV tipping during movement which would result in ineffective performance. Our ROV is also affected by the principle of buoyancy. We decided that our ROV should be slightly positively buoyant. This would possibly allow our ROV to be neutrally buoyant when retrieving items during the missions in the pool. figure 1 Learning Modules 6

7 (Below are the lessons learned while watching the SeaPerch videos) SeaPerch Basic Measuring PVC Pipes Teaches us how to measure and keep track of which parts and what size. Drilling PVC Pipes This video teaches us to use a table vice to hold the PVC pipe to be drilled. As well as measuring and marking the holes we are going to drill. We are instructed to drill a pilot hole as a guide for the actual hole. Cutting the PVC Teaches us to cut the PVC using the PVC cutters to get a clean, straight cut. Cutting the Wire The video teaches us how to remove wire insulation using the wire strippers Soldering the motors. This video shows and explains how to solder as well as the part of the control box and Cutting the PVC This video shows the measuring, marking and cutting of the PVC. Drilling the PVC This video shows how to drill through PVC using pilot holes and how to use vice. Assembling the SeaPerch This video shows us how to build a SeaPerch using elbows, Ts, floats, and pipes. Motors, Control Box, and Testing Taping the Motor 7

8 This video showed us an effective way to tape the motors, however there are other methods that work. You are also taught that the less tape you use the better, as long as there are no gaps for water to enter. Drilling holes in Film Canister This video shows us what size drill bits to use and how to drill properly. Connecting the cable tether wires This video shows how to remove the wires from the insulation. It also reminds us to tie a knot to keep the wire strung through the film canister cap. It shows us how to strip the wires and attach the motor terminals by soldering. Water proofing the motors The video explains how to use the toilet bowl effectively to waterproof the motors. It tells us that you should have a thin layer of wax because you have to be able to slip the motor into the canister afterwards. Then it tells us to coil the extra wire and place it into the canister on top of the motor. After that we are instructed to cap the canister. You are reminded to clean off the canisters. Attaching the propellers motors. This video shows us how to assemble the propellers and the correct way to attach the Building the control box soldering This video shows how to properly assemble a control box. This includes a portion of Testing the motors This video explains that when testing the wires you must hook up the alligator clips to make sure they do not spark. Then you need to make sure the motors can go in every direction. Attaching the motors 8

9 This video explains how to attach the motors to the frame of the R.O.V.. The orange motor is the vertical thruster, the blue motor is to the left, and the red motor is to the right. It does not matter what side the zip tie is facing as long as they are consistent. If needed you can use a screwdriver to adjust them. Remember to make sure the tether is facing out to the back of the vehicle. The motors can be on the inside or outside of the R.O.V. The video gives multiple other details on how to attach the motors with zip ties. Some examples are that you should use a vertical zip tie to fasten the horizontal ties, make sure the ties are not too tight, make sure the wire is not caught in the tie, and finally cutting off the loose tails. Mounting the Tether This video teaches us how to mount our tether on our R.O.V..First take a nickel sized piece of butyl rubber and string it out. Then wrap it around the wires coming out of the tether. Finally you must secure your tether to the R.O.V.. To secure the tether you must mount it in the center of the bottom of the rov and secure it with zip ties in a cross pattern Balancing the seaperch In this video we learned how to make our R.O.V. neutrally buoyant. to lower our buoyancy we can cut away at our floats with a knife. The amount of float above the water is how much needs to be cut off. Its ok if your R.O.V. is positively buoyant as long as it will go down. If you cut off too much of the float, just put a sliver back on. Learning Modules from PDFs and Videos Motor experiment module: In this module we learned how to make a motor by running an electric current through a wire coil. electric motors lecture module: In this module the details about how electric motors work and resources about building them. Electric motors assessment module this module quizzes us on what we learned in the first two modules. Buoyancy 9

10 There are three types of buoyancy; positive, negative, and neutral. If something is positively buoyant, it is floating. If something is negatively buoyant, the ROV is sinking. If an ROV is neutrally buoyant, it is in this middle of the water. This is determined if the ROV is heavier than 1g/cm cubed which is the density of water. Buoyancy was founded on Archimedes principle which is an upward force is equal to the weight of the displaced volume of a liquid. Vectors Vectors quantities of size and direction in physics and engineering. scalar quantities a measure that as a size but no direction. resultant vector two or more vectors added together. Forces a push or pull. Forces moving forward will be working against friction, which moves in the opposite direction Newtons second law is: acceleration is determined by the net force acting upon the object and the mass of the object If the forces are balanced then the acceleration rate is zero Decelerate is when the friction is greater than the force pushing an item When building an ROV you have to make sure that the drag is not greater than the force of your motors Vectors and motion If the flow of water your ROV is placed in had a flow of 5m/s, south and your rov can travel at 3m/s, south then your ROV can travel at 8m/s, south because you are adding the two vectors together. It is similar to a walkway at an airport. You have the speed you can walk combined with the speed of the actual walkway. This works the same way with horizontal motions. If an airplane is moving west at 10m/s and the wind is moving east (against the plane) at 3m/s then the net force is 7m/s. Electric Circuits 10

11 electrostatic force is a force that pushes electrons through wire, specifically of an ROV Currents are particles of electricity consistently moving through a conductor, or wire, then a basic circuit can be made. Ohm s law states: the current flowing through a conductor between two points is directly proportional to the potential energy difference between the two points. electric potential difference is the amount of force used to displace the charged particles. Volts = Joules/ Coulomb potential difference is usually called Voltage current is also the number of electrons that pass between a set of points in a given time. currents are measured in amperes or amps one amp = one Coulomb / second closed circuit the path of electrons is closed open circuit the path of electrons is open (broken) resistance measures how difficult it is for electrons to flow resistance is measured in Ohms ohm s law relates voltage, current, and resistance in this equation : V = i x R in a diagram currents start at the negative terminal and flow through to the positive parallel circuits a circuit in which the flow of electrons may be broken but reconnect at a later point in the circuit. series circuits one stream of currents with no breaks switches allows your flow of electrons to take an alternative path it is also possible to change the current by changing the resistance. By changing the current, the speed of the motors will change as well. Alligator attachment 11

12 First you will need to clamp the clips onto a thin object like a pencil or some PVC Then twirl the wire into a strand and then feed the wire through the safety plastic and around screw in the alligator clips. The red rubber covering is to the copper wire and black. If you are having trouble threading the wire through point it up. Alligator coverings First you will need to clamp the clips onto a thin object like a pencil or some PVC. Clip it as far as possible. Then slide the cover over and unclip the clips. Soldering the remote When soldering the remote start from the smallest pieces to the biggest pieces. The smallest piece goes in f1. Then put electrical tape over the piece. Flip the circuit board over and balance it on the case. You want your solder to be hershey kiss shaped. We use a solder sucker to remove extra solder. Then put in the push buttons. It does not matter what side they go on. Push them in completely and repeat the soldering process from the first piece. Do not let the circuit board overheat, let it cool before continuing. Make sure to clean up connected circuits. Finally solder in everything else including the tether. Make sure to thread it between the control case before you solder it into the circuit board. Waterproofing the motors First use a red and black marker to mark the prongs from the motor positive and negative. Then put electrical tape over the top and bottom. Next tape over the sides. Try to avoid putting excess amount. so it will fit in the cannister. Finally try to avoid the centers of the top and bottom. 12

13 III. Design, Engineering, and Manufacturing Process The 2015 SeaPerch missions consist of an obstacle course and the finesse. The finesse consists of three tasks; the targets, the pipes, and the ladder. Our ROV was designed and modified with the 2015 missions in mind. To navigate the obstacle course we know that a narrower ROV is a more appropriate design. To complete the targets, the pipes and the ladder we decided that we needed a fixed manipulator arm at a specific height on the front of the ROV. The fixed manipulator arm was sprayed with Plasti Dip to add texture to the arm to allow the arm to work in a more effective manner. For example, the texture added to the fixed manipulator arm would help the ROV in the ladder and pipe tasks. This matters because PVC pipe has a very smooth texture and by adding texture this increases surface friction on the arm so that the arm can easily slide the rungs on the ladder. Additionally, lifting the pipes with the textured manipulator arm would help the ROV not to drop the pipes before they were placed into their slots. By using the engineering process of research, design, build, test and redesign, our team s final ROV is very different from our first model. When our team tested our first design in the pool at the YMCA we learned that our initial ROV needed to be modified. The team s first ROV had difficulty navigating the obstacle course as well as problems of buoyancy. Our team first attempted to solve buoyancy problems by changing the amount of ballast and flotation devices that were used on the ROV, but it became clear that the ROV needed a drastic change in it s shape and weight so that the ROV could be more effective. In the final design our team s ROV is smaller and narrower allowing the ROV to be nimble and quick while still able to perform the tasks of the SeaPerch Challenge. Figure 2,3 and 4 13

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15 Engineering Design Process 15

16 IV. Naval Scenarios The Navy uses many ROVs for various operations. One of the Navy ROVs is called the MAGNUM. This ROV can reach a depth of 8,000 feet and meet any mid ranged requirements. It is surrounded by a cage class design that helps it move through currents. When it gets to the specified depth, the cage opens and deploys the ROV. The cage acts as a tether manager underwater. It has a built in winch that pulls and releases tether as needed. The winch holds 600 feet of Kevlar tether. The ROV has a handling system, deck hydraulic power unit, generator, and three deck vans. The handling system includes the winch with armored fiber optic umbilical cable and an A frame. Navigation is done with a short baseline acoustic tracking system. The ROV gets its power from the deck hydraulic unit, and diesel generator that provides power for the ROV from the vessel. The vehicle has a CTFM sonar that can detect acoustic pingers and identify small targets at a distance of 2,000 feet. It has two seven function manipulators, high efficiency thrusters, three video cameras, a digital still camera and a variety of lights. It can be used for mine neutralization, chemical detection, enemy detection, and to look for new sources of oil as well as oil leaks. In the U.S. Navy, ROVs can be used for many different things, such as submarine rescue. Submarine rescue is when the ROV saves submarine crews in distress. It works by going down towards the submarine and connecting itself to the hatch, it then opens the hatch and the crew goes into the ROVs pressurized rescue module where they are then taken to the surface where the ROV pilot is. This new ROV will be able to rescue the submarine crew more efficiently than the previous versions. 16

17 ROVs are also used by the Navy to explore the dangers of certain icebergs when ships were passing through. This technique is important because ROVs can help prevent another Titanic like incident from happening. The Navy s Autonomous Ocean Systems Laboratory created an ROV that can be used for gathering real world data so sailors know about the current whereabouts of the iceberg. This ROV will also show conditions under the water to find any dangers in the arctic. These are the reasons why this ROV is going to help our future while exploring the great ocean blue. The Navy recently signed a contract stating that six ROVs will be supplied to The Royal Canadian Navy. These ROVs will be used at 950 meters below the water to look at the hulls of ships, as well as searching for and returning the black box of aircrafts. They will also be used to investigate unusual objects in the water such as naval mines. During Operation Nunalivut 2012, two model ROVs were used to explore the waters at depths of 805 km to identify a sunken ship from The Navy also uses ROVs to explore the depths outside the canyon of the eastern seaboard. The discovery of many things, including sightings of gas erupting from the oceanic floor, came out of these missions. Furthermore, they were also observing animals that lived near these gas geysers. The Scorpio ROV is currently in use by the US Navy. Scorpio stands for Submersible Craft for Ocean Repair, Position, Inspection and Observation. It is also used by the oil industry for general tasks. This 17

18 ROV was made by a company in the United States. Although the ROVs design is decades old, it is in no way antiquated and is one of the best ROVs on the market. Scorpio ROVs are even used by our allies in the United Kingdom. In conclusion,the Scorpio 45 includes two manipulator arms including cutting equipment, three remote cameras, two sonar devices and six lights. The super Scorpio is used by the US Navy since It includes six lights, two cameras, two robotic arms, and a sonar. The arms are incredibly powerful and can cut through steel and lift over 250 pounds. The sonar also has a range of 2000 feet. Both ROVs have a speed of about 4 knots, but the Super Scorpio beats the Scorpio 45 in length, height, width, weight, payload, and maximum depth. The ROVs have rescued a submersible of seven men, located animal habitats, and many other missions. V. 18

19 Teamwork figure 6 CEO (Chief Executive Officer) Responsible for day to day activities and implementing long and short term goals COO (Chief Operating Officer) Checks the daily operations of the company CFO (Chief Financial Officer) In charge of the companies money and the company strategy CTO (Chief Technology Officer) Focuses are scientific and technical issues in the company OM (Operations Manager) Responsible for watching over the production, as well as the design of the product HMS SeaBots: The Veterans Job Descriptions 19

20 Kyle Bauer Mechanical Engineer My job as a mechanical engineer is to construct the frame of the ROV so that it is stable and hydrodynamic, help waterproof the motors and wires to ensure safety and to avoid short circuits, help build the control box for the ROV, add ballast to the ROV so that it will be neutrally buoyant, improve the Seaperch design to perform better, adjusting the motors so the ROV can perform correctly, and inventing new components for the ROV to allow it to work better. Hollyanne Clemence Mechanical Engineer There are many things I do as a Mechanical Engineer. Part of my job is to design and draw ROV models that are low in cost without compromising workmanship. Mech engineers add ballast and floatation in order to achieve neutral buoyancy. I must have information at my fingertips about things such as material science, machining techniques, and the ocean environment. I must also know the concepts of fluid flow, aerodynamics, and structural analysis very well. I am also responsible for making sure that all HMS Seabots ROV designs are going to keep water out of the motors at any depth that the vehicle is designed to work at. As a mechanical engineer, I am in charge of determining the size of the battery, in addition to figuring out how much energy is needed. I also decide how fast the vehicle should go, and I need to figure out the amount of drag. Once the construction of the ROV is complete, it is my job to examine if it is capable of successfully completing the task at hand. If not, then my team and I must find a way to improve the outcome by changing something about the vehicle. Mechanical engineers also make sure there is the fewest number of motors, while still maintaining full mobility. This will be very important when exploring both the ocean s known and unknown. Ben Friedman Architectural Engineer An architectural engineer specializes in designing physical objects. These include but are not limited to buildings, tunnels, bridges, walls, dams, supports, walls, and, of course, the frames of our ROVs! Without architectural engineers we would not have houses to live in, or any buildings for that matter. They play an important part in designing the ROV, and designing the frame as I mentioned earlier. Architectural engineers are also important because they are responsible for all modifications and changes on the frame of the ROV. It is imperative that the frame is durable and lightweight. In conclusion, architectural engineers play an important role in our society and our Seaperch team. 20

21 Glenn Hubbard Electronic Systems Engineer This type of engineer helps make the circuit board and connect the circuits to the electronics. I believe that this is an important position because a SeaPerch teams needs someone who can work well with electronics. I also help waterproof all items, which is vital for the ROV to operate. Without my skills, the HMS SeaBots would have a technological disadvantage. Jason Jetter Electrical Engineer In our company, my position is an electrical engineer.the electrical engineer designs the entire control system for the ROV. I use switches, resistors, diodes, capacitors, and circuit boards to make it possible to push a button and have the vehicle go in the direction needed. The electrical engineer is also responsible for designing the battery charging system and the energy delivery system, and making sure that the right voltage goes to the correct component at all times. Since the electrical engineer has designed all of the electronics up until now, there is no one better to decide the type of battery that will work best for the ROV. Taking into consideration how long the vehicle needs to operate and at what power the battery would have to be in order to fully function. In doing so, I choose the best battery to power the vehicle. Anson Sheu Computer Engineer Computer Engineers have to make all the sensor signals electrical pulses make sense, and not just process useless data and electrical pulses. They also have to make these arbitrary signals turn into binary data for the ROV to understand what it is doing. Computer Engineers have to measure the environment and output a small proportional electrical voltage or current and make sense of that. I also have to write programs to convert electric pulses to binary numbers for the robot to work. Computer Engineers have to make sure that all the software that they are using is up to date and is not going to fail. Also, I have to make sure that all the data that is coming in is relevant and doing the correct thing. That is some of the many things I have to do as a Computer Engineer and why I am needed in this company! V. Daily Journals September 23,

22 Today the team was introduced to the SeaPerch Program and the commitment it will require. We were also assigned our first homework assignment which was to write a letter explaining the positive attributes each member will bring to the team. September 30, 2014 Today we formed our teams and learned more about the SeaPerch competition. It was decided who the manager and assistant manager are going to be, what types of engineers we will be and the team discussed each member s strengths and weaknesses. For this week s homework assignment we had to write a paragraph detailing the tasks of each type of engineer. October 7, 2014 Kyle and Holly began setting up and working on the design notebook. This included designing the title, information, index, company flow chart, job descriptions, and budget pages. However, we did not get to write the team s mission statement, a paragraph about the team, and a demonstration of teamwork paragraph. October 14, 2014 Today Anson and Kyle worked on the notebook and completed our first six pages. The team was also assigned another homework assignment, which was to research different ways the Navy uses ROVs. October 28, 2014 Today the team had a guest speaker come in at talk to us about the MakerBot 3D printer. We got to see a demonstration and a preview of the program (sketchup or tinkercad), the team also worked on our sketchup and tinkercad skills for future use. Most of our class is using tinkercad so our homework is to create a tinkercad account and learn how to use it. Everyone should be proficient by next month. November 11, 2014 Today our team worked on the notebook and got it checked. Now Jason and Ben are going to start soldering next week. Since there were six groups only half could solder. The first three groups to update their notebook so that they were up to date could solder first. Our team will be the first group to solder. December 2, 2014 Today Holly, Glenn, Ben and Jason worked on the learning modules as well as soldering the control box components. Our team was the first group to successfully complete our control 22

23 box. We hooked the control box up to a R.O.V. to ensure that the control box worked and was soldered correctly. Now Holly and Glenn are finishing the team s last few learning modules. December 9, 2014 Today Holly and Jason worked on making the team s motors and waterproofing them. We did not work on our learning module. January 13, 2015 Today Holly, Ben and Glenn worked on waterproofing the motors using toilet bowl wax and added more learning modules to our notebook. Our team also did a brief overview of the rules and missions of the competition. January 20, 2015 Today Kyle, Ben, and Glenn worked on our ROV design sketches as well as the notebook. Finished some of the naval scenarios and learned how to use Clara.io. February 10, 2015 Today Kyle, Jason, and Glen worked on building the frame. Holly and Ben finished the learning modules. Our team should be done with our notebooks soon. February 18, 2015 Today Anson, Ben, Glenn, Holly, Jason, and Kyle worked on putting the frame of the ROV together. Anson and Kyle cut and drilled numerous holes into specific pieces of PVC. Glenn, Ben, Holly, and Jason put those pieces together. We started putting the wires onto our ROV. March 3, 2015 Our team traveled to the YMCA to practice the missions that we will encounter at the SeaPerch competition. When Jason and Kyle attempted to navigate the ROV through the pool they observed problems with buoyancy. Jason took the ROV home to solve this problem in his Jacuzzi tub. March 10, 2015 The team s ROV was tested in the pool at the YMCA to determine if the buoyancy problems were resolved. Kyle and Jason found that there may need to be a change in the design of the ROV. When Jason and Kyle returned to Harrington they changed the size and shape of the ROV. 23

24 March 11, 2015 Jason and Kyle continued to reconstruct the ROV and tested the new design in the classroom pool. The new design of the ROV appears to be more effective in speed and agility. Buoyancy appears to be much improved. 24

25 VI Team Budget Purchased Items Component Material Price/Unit Quantity Total $ Receipts * 3 Way Pipe PVC $ $6.24 Donated Plasti Dip Rubber Spray $ $ Donated Total 11 $6.74 *No receipts included. All parts were donated by Harrington Middle School. figure 7 Items Included in Seaperch Component Material Price/Unit Quantity Total ½ PVC Pipe PVC 19 /Foot Elbow Pipe PVC 22 6 $1.32 T Pipe PVC Total 86 figure 8 25