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Jenny December 1, 2014 In Response to NASA BAA # NNH14ZDA001N Development of ROV for Ross Ice Shelf Expedition Sanjana Belani Caleb Irvin Ryden Lewis Emily Thayer Ryan Wilkie neptune, inc ©
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ROV Presentation

Feb 23, 2017

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Page 1: ROV Presentation

Jenny

December 1, 2014In Response to NASA BAA # NNH14ZDA001N

Development of ROV for Ross Ice Shelf Expedition

Sanjana BelaniCaleb IrvinRyden LewisEmily ThayerRyan Wilkie

neptune, inc©

Page 2: ROV Presentation

Objectives

● Design a Remotely Operated Vehicle to collect data beneath the Ross Ice Shelf in Antarctica

● Build a scale model of this ROV● Provide calculations for a full

scale model of the ROV● Turn Valve 180° http://www.destination360.com/antarctica/ross-ice-shelf

Page 3: ROV Presentation

Requirements

The ROV must:● not exceed a total system mass of 15.0 kg● not exceed the dimensions : 58cm x 40cm x 30cm ● be able to move in 6 directions of motion● Incorporate required components and meet design

requirements

Page 4: ROV Presentation

Design - Jenny

Page 5: ROV Presentation

Jenny

● Meets size requirements● Easily maneuverable in any direction● Average speed of .595 m/s● Neutrally buoyant● Capable of being scaled up to full scale

Page 6: ROV Presentation

Description

● Dimensions: 49 cm x 31 cm x 29 cm● PVC frame● Five buoys and two Gatorade bottles for

buoyancy● Zip ties secure components ● Camera on front, right side

Page 7: ROV Presentation

Design

31 cm

29 c

m

49 c

m

Page 8: ROV Presentation

Design

(Rear view)

Payload

Page 9: ROV Presentation

Design

(Top view)

Buoys

Page 10: ROV Presentation

Design

(Front view)

Bottles

Camera

Page 11: ROV Presentation

Design

(Rear view)

Thrusters

Page 12: ROV Presentation

Thruster Placement

● Located in rear corners● Allows pitch to be easily

changed● Tight turn radius● Each controlled

individually by switches or buttons

Page 13: ROV Presentation

Circuit Diagram

Page 14: ROV Presentation

Advantages

● Design allows for easy addition/removal of components

● Four rear facing thrusters maximize speed ● Inner frame securely protects payload ● Wide surface area to turn the valve

Page 15: ROV Presentation

Mass Budget

Component Mass (grams)

Payload <10,000.0

Frame 1464.5

Thrusters 944.7

Buoyancy 289.6

Total <13,291.5

Page 16: ROV Presentation

CalculationsOur ROV is neutrally buoyant so the force of buoyancy is equal to the weight of the ROV.

∑F = FB - FG

0 = FB - FG

FB = FG

FB = 130.38 N

FG= m×gFG= (13291.5g/1000g)(9.81m/s2)

FG= 130.38 N

Page 17: ROV Presentation

Calculations

DragD = T = 25.22 N

ThrustForward = 25.22 NBackwards = 8.19 N

Page 18: ROV Presentation

Calculations

Top SpeedForward Vtop speed =

√(T/(.5AROVCD⍴)

= 0.663 m/s

Reverse Vtop speed =

0.377 m/s

Max PowerForward Prequired=VT/ηoverall

= 66.88 W

Reverse Prequired = 12.35 W

Page 19: ROV Presentation

Calculations

Center of Gravity

XCG = 19.1225

YCG = 16.304

ZCG = 1.78

Page 20: ROV Presentation

Testing

● Temperature ≃ 20˚C● Density: 998 kg/m3 ● Achieved average velocity

of 0.595 m/s ● Neutrally Buoyant ● Stable

Page 21: ROV Presentation

Full Scale Environment

Fluid: Sea waterDensity:1028 kg/m3

Water temperature: -2.16˚CAdditional considerations: Sea currents, Increased pressure and buoyancy, Limited lighting

Page 22: ROV Presentation

Full Scale Materials

● Frame: High-Strength Steel

● Propellers: Stainless Steel

● Buoyancy: Syntactic Foam

● Power Source: Lithium-ion battery

Page 23: ROV Presentation

Full Scale Calculations

Full Scale Dimensions:λ = 2.5

Ls = 1.23 m

Ws = 0.78 m

Hs = 0.73 m

Page 24: ROV Presentation

Full Scale Calculations

Full Scale Top Speed:

Vs = Vm × λV

= 0.483 m/s

Full Scale Thrust:

TS= TM x λT = 86.12 N

Power:

Ps= Pmx λpower = 166.3 W

Page 25: ROV Presentation

Recommendations

● Housing for the camera● More secure protection for thrusters● More sophisticated controls

Page 26: ROV Presentation

Conclusion

● Model meets all requirement● Has a calculated speed of 0.663 m/s and a

recorded speed of 0.595 m/s● Highly maneuverable ● Compact design

Page 27: ROV Presentation

Questions?

neptune, inc©

Contact: [email protected]

image from: http://www.percyjacksonmovies.com/wp-content/gallery/logos/black.png

Page 28: ROV Presentation

Center of Gravity

XCG=((236.175*49)*4+10000*16.3)/(944.7+10000)

XCG = 19.1225

YCG=(212.5*7.75)+2(236.175*15.5)/(944.7+212.5+10000)

YCG = 0.804

(31/2) + YCG = 16.304

ZCG= (212.5*29)+(236.175*29*2)/(212.5+944.7+10000)

ZCG = 1.78