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TRANSMITTAL Florida Institute of Technology Department of Marine and Environmental Systems OCE 491* TO: Dr. Stephen Wood Dept. of Marine and Environmental Systems Florida Institute of Technology 150 W. University Blvd. Melbourne, FL 32901 FROM: Senior Design: ROV Team, Slime Shark Department of Marine and Environmental Systems 150 W. University Blvd. Melbourne, FL 32901 RE: Final Report DATE SUBMITTED: July 23, 2008 Dr. Wood, Please review the attached Final Report for the ROV team. The ROV Team
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Florida Institute of Technology
Ocean Engineering Design 2008
OCE 491*
Slime Shark - Final Report
Presented by: The ROV Team
Kelley Pitts
Amy Pothier
Amanda Mackintosh
Michael Plasker
Jeffrey Pollard
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ACKNOWLEDGEMENTS We would like to thank: Dr. Wood for his advice, encouragement, understanding, and time in all the areas of building this project. He helped keep us going when we did not know if we could. Dr Swain and Melissa Tribou for their advice and sharing of knowledge of cleaning hulls using brushes Bill Bailey for his machining and mastercam expertise. His help allow for a tangible structure and not just some papers. His knowledge allowed for a higher quality product and his welding allowed for a truly water proof pressure vessel. Larry Buist for his electronics and software knowledge. Along with his time and support no matter the time of day. His commitment to helping our team really made this project work. Thaddeus Misilo for his programming and electronics knowledge and support, and checking up on us to make sure we did not need help; even at midnight. Without your help this project would not be possible.
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1.0 Executive Summary 8 2.0 Introduction 9
2.1 Motivation 9 2.2 Objectives 10 2.3 Time line 10 2.4 Organization 11
3.0 Background 13 3.1 Basic Theory 13 3.2 Historical 14
4.0 Procedures 18 4.1 Bollard Test 18
4.1.1 Thrust Moment Calculations 19 4.2 Pressure Vessel Testing 20
5.0 Customer Requirements 21 5.1 Brush Testing Requirement 21 5.2 Future Customer Requirements 22
6.0 Project Evolution 22 6.1 Manufacturing Process 24
7.0 Function Decomposition Structure 25 7.1 Aesthetic Shell 26 7.2 Engineering Specifications 27 7.3 Main Frame 27
7.3.1 Thrusters 28 7.4 Brush Cleaning Assembly 29
7.4.2 Shaft 30 7.4.3 Bearings 30 7.4.4 Frame 31
7.5 Pressure Vessel 31 7.6 Electronics 32 7.6.1 Topside Electronics 32
7.6.2 Bottom Side Electronics 38 7.6.3 Water Proof Connectors 41 7.6.4 Programming 42 7.7 Suction Attachment Device 42
8.0 Ethical Issues 43 8.1 EPA Compliance 43 8.2 Cavitation 43
9.0 Safety 44 10.0 Budget 46
10.1 Bill of Materials 46 11.0 Results 47 12.0 Conclusion 47
12.1 Recommendations 47 12.1.1 Addition of a Second Camera 47 12.1.2 EPA Compliance through a filtering system 48
TABLE OF CONTENTS
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12.1.3 Creation of other Head Units 48 12.1.4 Wireless Control 49 12.1.5 Autonomous Cleaning 49 12.1.6 Online Control 49 12.1.7 Cathodic Protection 50 12.1.8 Custom Brush 50 12.1.9 Fiberglass Shell 51 12.1.10 Pressure Vessel Front Flange 51
13.0 References 52 14.0 Appendices 53
A.1 Hand Calculations for Pressure Vessel 54 A.2 Seabotix Ad 55 A.3 Resume – Kelley Pitts 56 A.4 Resume – Amy Pothier 57 A.5 Resume – Amanda Mackintosh 58 A.6 Resume – Michael Plasker 59 A.7 Resume – Jeffrey Pollard 60 A.9 Basic Code Topside 62 A.10 Hour Charts Week 4 through End 66 A.11 Hour Chart from beginning 68
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LIST OF FIGURES
Figure 1 Task List 10 Figure 2 Task Completion Ghant Chart 11 Figure 3 Team Members 12 Figure 4 Pool System with Pump 15 Figure 5 Jet Sweep Pool Cleaning Device 15 Figure 6 VHC underwater Crawler 16 Figure 7 NovaRay ROV 17 Figure 8 bollard Thrust Test 19 Figure 9 Slime Shark Outer Case 26 Figure 10 Final ROV Design 27 Figure 11 Seabotix Thruster photo from Website 28 Figure 12 Seabotix Thruster Recieved 29 Figure 13 Bearing from Granger 31 Figure 14 Electronics’ Flowchart 32 Figure 15 Contorl Box 33 Figure 16 Joystick 33 Figure 17 Schematic topside Electronics 34 Figure 18 Topside Communication Population 35 Figure 19 Topside Communications Wiring 35 Figure 20 XBOB Video Overlay 36 Figure 21 AC to 12V DC Converter 37 Figure 22 AC to 300V DC Converter 37 Figure 23 Pressure Vessel Electronics Mounting 38 Figure 24 300V DC to 12V DC Converter 38 Figure 25 ROV Main Board Schematic 39 Figure 26 Bottom Side ROV Main Board 40 Figure 27 Camera 41 Figure 28 Compass Board 41 Figure 29 Pressure Transducer 41 Figure 30 Suction Attachment Device 42 Figure 31 Use of Safety Equipment 44
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LIST OF ABREVATIONS ABS Acrylonitrile / Butadiene / Styrene Terpolymer DMES Department of Marine and Environmental Systems EPA Environmental Protection Agency FIT Florida Institute of Technology LCD Liquid Crystal Display LED Light Emitting Diode MFP Marine Field Project MSDS Material Safety Data Sheet’ OSHA Occupational Safety and Health Administration PIC Programmable Interface Controller PVC Polyvinyl chloride PWM Pulse Width Modulation ROV Remotely Operated Vehicle TIG Tungsten Inert Gas (Welding) TMS Tether Management System VRAM Vortex Regenerative Air Movement (Vortex HC LLC)
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1.0 Executive Summary
The ROV team intends to design, create and implement an underwater vehicle that will
be able to clean and inspect hulls which have mild scum.
This would be considered a small ROV which is light and easy to carry. It will have a
removable head for cleaning hulls, with brushes like that of a vacuum cleaner for maximum
cleaning. This will allow for different brushes to be designed an attached for other uses. Also
attached to the main body will be a camera, to allow for hull inspection or underwater viewing,
such as a coral reef. There will be four thrusters, two vertical and two horizontal, for maximum
control of the ROV. A suction device will be used to provide attachment to the hulls. It will have
a control box with a screen for viewing of the camera’s video and a joy stick for easy control.
The control box will be attached to the ROV by a tether. Its maximum use depth will be 100ft.
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2.0 Introduction
An ROV is a very complex design with many factors that must work well together to be
effective. To accomplish this in a timely and proper manner, many plans must be created and
implemented. This report explains the time line that was followed, what has been completed, and
what needs to be done. The order of the report is as follows: the origin of ideas, reason for the
design, the methods to accomplish our tasks stated and what we have completed.
2.1 Motivation
This ROV has many potential uses and will be highly marketable once completed. It will
be able to clean boat hulls which reduce the bio-fouling on the sides. The need for a bio-fouling
removal system that is both effective and environmentally friendly is ever increasing. Many of
the traditional fouling release chemicals have been found to be considerably toxic, removing the
growth by killing it. Others have been shown to cause abnormalities in marine life. (TTCP)
The benefits of the removal of the bio-fouling are extensive. It will decrease the
turbulence due to a non smooth surface allowing for a more laminar flow along the boat hull.
This will reduce drag and therefore decrease fuel costs. For instance, “an effective antifouling
paint can produce fuel savings of at least 15% due to reduced drag compared to an untreated
hull.” (TTCP)
The ROV is equipped with a camera which will allow for hull inspection and reef
exploration. This will allow for necessary inspections to occur. Reefs and points of interest can
be viewed without the need for divers, potentially decreasing expenditures.
The Slime Shark team wanted to make something unique, a new idea that would be
useful and aesthetically pleasing. We decided to create a boat hull cleaning ROV with a spin to
it. Instead of the brushes mounted to the ROV it’s self and not removable easily, we decided to
make the brush unit modular.
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2.2 Objectives
So that the ROV will be completed within our time frame, smaller tasks have been
created. This in the most simple sense explains what the ROV team plans to do by the time of
completion at a date of July 23, 2008.
The Slime Shark team intends to accomplish the following tasks:
Design a ROV that will be able to clean boat hulls and return a visual feed
Build this ROV
And if time permits:
Test different brush types using its head assembly
2.3 Time line
Our timeline explains what is intended to be completed in what timeframe. Many things
that are to be completed are contingent on previous tasks being finished. The below tables
explain these tasks. The first chart provides specific dates and the second explains how these
dates interact with each other.
ID Task Name Duration Start Finish Predecessors Resource Names
1 Final Term Paper- Spring Edition 94 days Mon 1/14/08 Fri 4/25/082 Boat Cruise 27 days? Wed 6/4/08 Mon 6/30/083 Cruise Report 27 days? Wed 6/4/08 Mon 6/30/084 Electronic Boards 102 days? Mon 3/3/08 Thu 6/19/085 Pressure Housing Build 22 days? Fri 6/20/08 Fri 7/11/08 46 Machine Shop Training 52 days? Wed 4/9/08 Fri 5/30/087 Buying Parts 99 days? Mon 3/24/08 Mon 6/30/088 Slime Shark Spring Final Presentation 1 day Mon 4/21/08 Mon 4/21/089 Student Showcase- Spring 1 day Fri 4/4/08 Fri 4/4/08
10 Poster Student Showcase 5 days? Mon 3/31/08 Fri 4/4/0811 Preliminary Design Bill of Materials 24 days? Mon 1/28/08 Wed 2/20/0812 Final Term Paper- Summer Edition 73 days? Mon 5/12/08 Wed 7/23/0813 Summer Design Showcase 1 day? Wed 7/16/08 Wed 7/16/0814 Slime Shark Frame Build 22 days? Mon 6/9/08 Fri 7/11/08 6,715 Class 71 days Mon 5/12/08 Mon 7/21/0827 Fiberglass Shark Shell 15 days? Mon 6/30/08 Mon 7/14/0828 Front Brush Design 22 days? Mon 6/16/08 Mon 7/7/0829 Brush Decision 15 days? Mon 6/16/08 Mon 6/30/0830 Design Brush Mount 22 days? Mon 6/16/08 Mon 7/7/0831 Brush Motor 5 days? Mon 6/30/08 Fri 7/4/0832 V-Ram from Dr. Swain 1 day? Mon 4/21/08 Mon 4/21/0833 SAD (Suction Attachment Device) 71 days? Mon 4/21/08 Mon 6/30/08 3234 Order PIC 1 day? Mon 6/23/08 Mon 6/23/08 435 Populate Electronics Boards 1 day? Tue 7/1/08 Tue 7/1/08 4,3436 Power 19 days? Mon 6/23/08 Fri 7/11/08
Figure 1 Task List
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ID
12
3456789
1011
12131415272829303132
33343536
1/13 1/27 2/10 2/24 3/9 3/23 4/6 4/20 5/4 5/18 6/1 6/15 6/29 7/13 7/27 8/10 8/24January 1 February 1 March 1 April 1 May 1 June 1 July 1 August 1
Figure 2 Task Completion Ghant Chart
2.4 Organization
The Slime Shark ROV team has a unique organizational system that has allowed for its
members to learn more about all the major areas necessary to build a ROV. There is not a leader
for any particular section and not just one person responsible. Instead each team member takes
responsibility of a particular task that needs to be accomplished and shares with the team how the
process is being completed. If a team mate would like to learn more about a particular subject
area they ask another team mate with experience. For the most part, purchases are completed
together, and machine shop training for the four uncertified team members. Resumes of the team
members can be seen in the appendix.
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Figure 3 Team Members
(Team members left to right)
Amy Pothier, Amanda Mackintosh, Kelley Pitts, Jeffrey Pollard, Michael Plasker
The Slime Shark ROV team members include:
Kelley Pitts, Senior – Ocean Engineering
Amy Poither, Senior – Ocean Engineering
Amanda Mackintosh, Junior – Ocean Engineering
Michael Plasker, Junior – Ocean Engineering
Jeffrey Pollard, Sophomore – Ocean Engineering
The reason this organizational method of the team works is the honesty and the constant
asking of questions. Each member brings something different to the table and is willing to share
their knowledge. Amy Pothier has hands on knowledge about the best places to buy materials
such as aluminum and has shared this knowledge with the team. Kelley Pitts wanted to learn
more about Pro E and asked Jeffrey Pollard who is now teaching her how to use the program.
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3.0 Background
There are many perspectives of background. This section expresses 2 points; the first is a
basic theory which explains the components of what is required of a ROV. The second is the
historical area, or what could be called the research we have completed to develop the Slime
Shark’s current design.
3.1 Basic Theory
The Slime Shark ROV theory is to build and test an ROV that is able to clean and inspect
hulls.
Since the Slime Shark is an ROV, it must be tethered to a ship above. The team is
utilizing last year’s tether. The data and power will be run through the tether between the ship
and the ROV; however, a future goal of the Slime Shark to become autonomous so the tether
would no longer be needed. It will be connected to the control box from last year’s project as
well. The box will be able to be interchangeable between the two ROV’s.
With every ROV a tether management system is required. One of the most successful
tether systems is the TMS from Harbor Branch. They started using their TMS in 1995 and it
included distinctive features. A main feature was “its small size ( 6 ft dia. X 64.5’H), its light
weight (1450 in air), its low cost, its unique cable friendly sheave less cable handing design, and
the fact that power and control of the TMS function only require three wires, 300 lb. line pull”
(Tether Management System 1). The tether is stored in a drum, so no guides are needed. The
electro hydraulic uses a “phase rotation of the electric motor” which allows the motor only to be
one while bring in/out the tether (Tether Management System 2). It rotates clockwise and
counterclockwise. According to the specification sheet the drum and frame are made of
Aluminum T6- 6061, the same material that the Slime Shark is made from. If the ROV was
rated for larger depths than 100 feet, this would be a great tether system; however, since the
ROV is designed for a relatively shallow depth, it is an impractical tether system to implement
because it requires the tether, motors, and storage drum.
Most ROV’s are equipped with a frame; this ROV will be surrounded by an aluminum
frame. The frame is used for protection which will help provide durability. In addition the metal
frame will allow us to make the modular head components, which easily can be attached or
removed. The goal of the ROV is to have the different components attached to the frame so that
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they can be swapped in and out of the ROV. This is usually seen in larger vehicles. Our
research has not shown in the small compact size.
The pressure housing is aluminum T6 6061 cylinder, with flanges on each end, and on
the front a camera dome. To find the maximum depth allowed, use the hoop stress equation
along with testing the housing on an ocean dive. See appendix for hand calculations.
Hoop Stress Equation:σ = (Pr)/t
σ = hoop stress
P= Pressure
r = radius
t = thickness
The electronics box, or black box, will be control center of the ROV. The Slime Shark
will be controlled using a joy stick, along with on and off switch for the 4 thrusters. This will
allow us a complete range of motion on all axes. The self-made VRAM will also have an on-off
control. The brush motor for the turning rate of the brush in the head will be on a variable
switch. All coding for the box will be completed in C. Another recommendation is to then have
the box rewritten in LabVIEW using Amanda Mackintosh’s experience with this computer
program.
3.2 Historical
In order to effectively design the brush and motor head for the ROV, several pool
cleaners were examined. There are several different types of pool cleaner designs, which vary
the method by which they remove debris. The first type of cleaner uses vibrating brushes or
rubber blades to loosen the debris, which is then removed by a pump. These units are then
moved around by oscillators inside the cleaner. The other brush configuration for this type of
cleaner is for the brushes to remain stationary, and to just use the suction of the pool’s system to
remove the debris (Pentair). An example of this can be seen below.
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Figure 4 Pool System with Pump
The second type of cleaner uses water jets to remove the debris, which it then removes
from the pool by a pump (Ledford). This design was considered for the ROV, but was rejected
due to complications.
The third type of cleaner, which was adapted for the Slime Shark, is an independent
cleaner that uses a brush oriented about a horizontal axis. The cleaner uses treads to move along
the surface of the pool, uses brushless motors and is fully automated (Pool). The Slime Shark
will have a brush of similar design, however is controlled, instead of operating independently.
Figure 5 Jet Sweep Pool Cleaning Device
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There are several different types of ROVs that are currently in existence whose models
were considered and modified. The first ROV is the VHC Underwater Crawler produced by
Roper Resources. This vehicle has the benefit of being small, and the ability to travel on any
surface, but it must have a surface to attach to. The ability to attach to a surface is controlled by
a VRAM, which generates “over 30 pounds of attraction from a single unit” (Roper). The VHC
uses wheels as its primary mobility unit, and has a reinforced tether so that the unit can be raised
and lowered by the tether (Roper). The Slime Shark will be using these features, however the
differences are the size, because the Slime Shark is not only an inspection vehicle, but also a
cleaner. The wheels, will not provide the movement; the movement will be provided by the
thrusters.
Another type of ROV that is commonly used is from Seabotix and their ad can be seen in
the appendix.
Figure 6 VHC underwater Crawler
Another type of survey ROV currently available is the Nova Ray models. Most of the
models generally come equipped with sonar systems as well as cameras. These ROVs are
unique in that their hull is an articulate wing, which has been modified for efficiency (Nova
Ray). The purpose of this is to help “counteract the lifting force of the umbilical (also described
at the tether or cable). Therefore, the speed of the boat (or other vessel) or current has little effect
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on the operational stability of the Nova Ray®. The wings increase cable use efficiency and
reduce the amount of cable necessary to operate or tow at depth” (Nova Ray). The Slime Shark
uses a similar idea, and also uses a design for its hull from nature, as it is based off of a
hammerhead shark. The Slime Shark will differ in that it will not be made to tow as the Nova
Ray models are, but will only be free swimming. The Slime Shark will be equipped with a color
camera as well as lights, but it will not be utilizing the sonar systems that the Nova Ray models
have.
Figure 7 NovaRay ROV
According to ROV Network, there is currently no consistent company that has an ROV
strictly for cleaning. There are companies that create brushes that can both be used by divers or
ROVs, but have to be modified for either. This situation creates a problem in that the brushes
cannot be designed specifically for each ROV, as they constantly change, as it needs to still be
human operable. The brushes are operated by a motor using either hydraulics or water, and the
brushes are made of wire. The network also states that most ROVs that are outfitted with these
cleaning heads are able to clean more than just boats. They also clean harbor walls, bridges and
other offshore structures, but this is all dependent upon the visibility. It also reports that the
cleaning systems can clean approximately 200 to 500 meters an hour (Ward). The benefit of the
Slime Shark is that it will have a brush that is explicitly fitted for it, which will maximize
efficiency. It should allow for the Slime Shark to maintain a current cleaning speed; however it
will be scaled down, due to the fact that most ROVs used for these cleaning jobs are
considerably larger. The motor for the brush on the Slime Shark will be run by a DC brush
motor, and the brush will made of nylon bristles. An additional feature of the Slime Shark is that
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while the brush will be fitted for this model, it will also be detachable, so that in the future, other
equipment may be utilized.
4.0 Procedures
Individual components were tested before the build was finished so any problems that
arise could easily be fixed. This ensures capability of the product created and determines overall
quality.
4.1 Bollard Test
The idea of the bollard thrust test came from the Swimmy Thang webblog. The
experiment given in “Testing the Thrust of Your Motors” was used with little modifications to
suit the Slime Shark’s needs. The Slime Shark version of the bollard test is described in the
following paragraph.
A pivot was made with ¾” and ½” PVC pipe connecting at the center with a cross piece.
On the ¾” piece, one end was out of the water with a fish scale attached; the other end was
placed in the water with a ‘T’ piece. The bilge pump was connected to the ‘T’ with two hose
clamps. The ½” pipe was placed through the cross and rested on the edges of the pool. The
bilge pump was then connected to a 12V battery and turned on. The two ends that rested on the
sides of the pool were held down, while the fish scale was held in place so a reading could be
obtained. This set up is seen below.
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Figure 8 bollard Thrust Test
Once thrust values were obtained, the unequal lever arms of the PVC cross had to be accounted
for using a moment calculation. The actual motor thrust is 3.5 lb in the forward direction and
.875 lb in reverse. This does not account for the flex in the PVC pipe used as arms or the extra
thrust created by placing the prop within the duct, so the actual thrust would be measurably
higher.
4.1.1 Thrust Moment Calculations
Thrust Moment Calculations
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F(t)= Actual Thrust F(s) = Scale Reading
F(s)= 4 lb forward direction F(s)= 1 lb reverse direction
Forward Direction: ΣM(o)= F(s)*distance- F(t)*distance ΣM(o)= F(s)*35 inch- F(t)*45 inches 0 = F(s)*35 inch- F(t)*45 inches F(t)= 4 lb * 35inch/40inch F(t)= 3.5 lb Reverse Direction: ΣM(o)= F(s)*distance- F(t)*distance ΣM(o)= F(s)*35 inch- F(t)*45 inches 0 = F(s)*35 inch- F(t)*45 inches F(t)= 1 lb* 35inch/40inch F(t)= .875 lb 4.2 Pressure Vessel Testing
When the pressure housing was sealed, it was first tested in a pool to verify no leaks were
present. The initial test was to place it on the pool stairs to check for large leaks. While it was
submersed, no bubbles appeared at the surface. After five to ten minutes, the pressure housing
was removed from the water and placed upside down to see if any water would pool in the clear
camera dome. No water appeard in the camera dome. The housing was then inserted into eight
foot of water for 30 – 40 minutes. When the pressure housing was removed from the pool, it was
dried thoroughly, and then opened on the dome side so the lip would stop any trapped water from
entering the housing and giving invalid results. The bolts were taken off and the housing
F(t) F(s)
35” 40”
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opened, and inspected thoroughly for water and dampness. No evidence of water inside the
housing was found. These results prove the pressure housing is water-proof, however additional
testing at deeper depths should be considered. Further testing should be competed once the
water proof connectors are attached.
5.0 Customer Requirements
Although a true customer has not surfaced, the Slime Shark once completed will be a
highly marketable tool to clean boat hulls and save the purchaser large amounts of money from
fuel costs and diver cleanings. Therefore, at this time we have two main requirements; one for
the use of testing different types of brushes and comparing its cleaning ability to that of the Bug,
another cleaning ROV; the other from the prospective that the Slime Shark will be marketed in
the future.
5.1 Brush Testing Requirement
The Slime Shark once completed may be used to test a variety of brush types and
possible cleaning methods. This idea was brought to the Slime Shark design team early in design
by Dr. Swain from the Department of Marine and Environmental Systems at the Florida Institute
of Technology. Dr. Swain is currently working with a company that is designing and testing an
ROV with the intent to clean the bottom of hulls using a brush design call the Hull Bug. Not
much is known about this ROV as it is still in its design phase, so much is kept private. Dr.
Swain spoke with us with the intentions for our team to test many different brush types to find
which would have the most optimal cleaning. To the Slime Shark team’s knowledge the Hull
Bug has not made a decision on its brush assembly. The Slime Shark brush has a horizontal axis
of rotation. After a presentation by Dr. Swain on the Hull Bug it was decided that the Slime
Shark would be used to compare results. In return, we would have a brush assembly donated to
the Slime Shark and the possibility to use a VRAM system. The VRAM system would allow the
Slime Shark to efficiently attach itself to a boat hull with a magnetic fingerprint or damage to the
boat hull. However, in early spring the VRAM was discontinued, causing the SAD to be
developed.
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5.2 Future Customer Requirements
At this time a purchaser of the Slime Shark has not been identified. A future customer
may have the requirements of a small sized ROV with a horizontal axis brush cleaning system
with a removable head unit.
6.0 Project Evolution
From the beginning, the Slime Shark has undergone a variety of design changes. The
first problem that was faced with this ROV was how the cleaning heads were to be oriented.
One idea was to have several brushes that spun about a vertical axis. This design is already in
use and is proven to be effective. The problem with this design was the difficulty designing a
brush orientation that would prevent the angular momentum from the brushes from turning the
cleaner. The second design that was eventually adopted was to have a long brush spin about a
horizontal axis, much as a vacuum cleaner would. This design was favored due to the simplicity
of the design, as well as the smaller chance of the brush getting clogged by clinging slime, as the
spinning will produce enough force to expel it from the bristles. Another reason that this design
was favored was that in order for this machine to EPA compliant, there would need to be a way
to contain the expelled scum, and this would allow for there to be a containment unit around the
head without much difficulty. The brush would be attached to the front of the ROV and the body
would contain all of the necessary parts for functionality. The third design that was conceived
was using a stream of pressurized water, much like a power washer, to remove the scum. This
idea was also EPA compliant, but ultimately rejected as well due to the complexity of the design.
After the horizontal axis brush was decided on, the brush also underwent several changes.
The initial design was to use a brush similar to those in pool cleaners. The bristles would be
arranged in a spiral so that the debris would be moved towards the center of the head so that it
could be suctioned out through a tube to the containment device. The Slime Shark will not
currently be equipped with an EPA compliant unit, but will be designed to be easily upgradeable.
This design for the brush was changed, due to the provision of Dr. Geoffrey Swain, as he
provided the ROV with a brush. It was stated that the brush design needed to have a horizontal
axis of 18 inches. This design of brush has the bristles oriented in a diagonal pattern, which
covers the entire brush. It will rotate on a steel shaft in an Uhmw-Pe Bearings block bearing,
which will be attached to the head, and will be able to be exchanged for other brushes.
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Unfortunately the brush from Dr. Swain was unable to be acquired, and due to budget constraints
a generic brush had to be purchased that was similar to the one that was going to be received.
The only exception is that the rod that the brush rotated on was one inch in diameter instead of a
half inch.
The head is can be removed from the ROV and exchanged for other heads. Additional
heads will not be implemented in this project. The heads can be changed using square tubing
and pins to attach it to the body.
The body frame and its contents have undergone the most of the design changes for this
project. The original design for the Slime Shark was to be a rectangular frame, made from T6
6061 aluminum channel bar. This design had to be expanded because all of the components
could not be included with the frame and provide the pilot with the needed control over the
Slime Shark. The proposed solution was to add a second tier, also made of channel bar. The
tiers were to be connected using angle bar and supported by channel bar as cross pieces. This
design was then changed in part to the location of a cheaper aluminum flat stock, which replace
the angle bars, and the channel bar cross pieces. However, due to the lack of stability provided
by the flat stock, it was decided that the channel would serve better to support the tiers, and it
was also more aesthetically pleasing. The channel that was retained in the design was also
expanded from 2”x 1” to 2 ½”x 1 ½” because of the availability of the material.
This frame contains a pressure housing, with a 6” nominal diameter, and a length of one
foot. The frame will also have two Seabotix motors on the port and starboard sides, attached by
square tubing to the bottom tier. These motors will provide the thrust and turning needed. Two
additional Seabotix motors will also be utilized to allow for ascending and descending. In order
for the Slime Shark to effectively attach to the surface of the ships to clean them, the use of live
well pumps was considered to provide enough downward thrust the keep the ROV in place. The
discovery of a device called the VRAM changed this design, and was to be provided by Dr.
Swain. This device is more efficient and smaller. The VRAM, however, is no longer available,
so the design once again had to be modified. The replacement was the Suction Attachment
Device, or SAD. The SAD consists of a ducted fan powered by a bilge pump attached to the
frame. Due to the measurements of the frame, the SAD had to be placed inside the frame which
may weaken the attraction power, but the current design allows for a skirt to be added increased
suction. Two cameras were initially going to be attached to the frame, one in the pressure
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housing and another in its own housing. The design was modified and the second camera
removed because of limited funds and the complexity of the design. The camera in the main
pressure housing will be retained though.
The circuitry contained in the housing has also undergone some changes as well.
Originally, there was a ROV from where the circuitry was going to be provided. However this
was changed as the other ROV is going to be kept in commission, and new parts have to be
obtained. The circuit boards were designed to support six motors, which required three PICs to
allow for six channels of pulse width modulation. The water-proof connectors to allow for the
wires to enter and exit the pressure vessel were provided from the previous ROV as well as some
that were provided by Dr. Wood. The box that will house the controls on the surface was
assimilated from last year as well. A Polaroid LCD screen and video overlay board were already
installed, but the controls had to be constructed from scratch. The control panel was created
from ABS and contains two joysticks, two dial knobs, two rocker switches as well as the tether
connection and a power supply. The topside control also has a converter from AC-120V to
twelve volts DC to power the circuitry in the box, and an AC-120V to 300 volt DC converter to
send down the tether.
The final aspect of this design is the hull of the ROV. As the name Slime Shark suggests,
the machine will be in the shape of a shark, specifically a hammerhead. This design was chosen
because the wide head allowed an ideal setup for the brush, and the body provided adequate
space for the other components. The hammerhead shark also has good hydrodynamics, which is
ideal for the ROV to operate. However, due to the complexity of the shell, it had to be
postponed for a later project, as the other aspects of the ROV demanded more time.
6.1 Manufacturing Process The manufacturing process for the Slime Shark was different then the most common
construction process. All of the Slime Shark components were first designed then machined.
Once each part was individually machined, the components were then put together to form the
Slime Shark. The main goal in the assembly process was to make the entire Slime Shark
modular; every component can be removed and a replaced with something different.
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The frame was the first component to be completed. Once two square rectangles were made
from aluminum channel, they were attached to from the frame with four pieces of vertical
aluminum channel. This formed the two tiered frame. Once the basic frame was constructed the
cross members for the pressure housing and SAD were welded on the top and bottom rectangle
respectively. The pressure housing cross member was predrilled for the U-bolt; 2 5/8” holes
were drilled so the pressure housing could be attached to the frame. Matching holes were drilled
on the front top tier rectangle for a second U-bolt. The SAD is attached to the frame by drilling
holes into the front bottom tier so the ducted fan can be attached to the frame in the front and the
cross member using #10- 24 x ¾ pan head machine screws. Next, the two horizontal thruster
mounts were bolted onto the frame’s lower level sides using three ¼” – 20 x 1 ¼” hex cap
screws in a triangle pattern. Following which the two vertical thruster mounts were bolted onto
the front of the frame connecting the two tiers, and the back mount was bolted onto the back
inside of the frame. Both mounts used two – 20 x 1 ¼” hex cap screws two on the top tier and
two on the bottom. All mounts were predrilled for the hole patterns according to the thruster
specifications, so that once all construction was complete the thrusters could easily be attached
using #8 machine screws. The last major component to the frame was the addition of the
aluminum 1 ¼” square tubing, which is how the brush assembly is attached. The tubing was
welded onto the frame flush with both vertical aluminum channel on the front of the frame.
The brush frame was designed and constructed as its own entity. The brush frame was
similar to the main ROV frame being a rectangular shape; however it was from aluminum angle
iron instead of channel like the main frame. Once the rectangle was welded together, holes were
drilled on the top of the frame on the two shorter sides for the 1 inch diameter bearings. The
bearings were attached to the frame using ¼” – 20 x ¾” hex cap screws. Next, holes were drilled
on the side of the angle iron for the vertical brush mount, so the brush could be lowered and
raised.
7.0 Function Decomposition Structure
The Slime Shark can be broken into three main structural components: main frame, brush
assembly and electronics. The fiberglass shell or computer model is not built however it is a
main concept of the Slime Shark.
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7.1 Aesthetic Shell
The following views are the latest designs of the Slime Shark ROV. The first figure of
this section shows the outer casing. This would either be created using fiberglass and a mold of
some sort or pressed plastic, depending on funding and time. Currently, both methods are being
considered, but fiberglass is more likely as a team in the future can create this. The second view
is the main frame containing the pressure vessel and thrusters. Below is our most current design.
Figure 9 Slime Shark Outer Case
As can be seen the case is made to resemble a hammer head shark. This is for fluid
dynamics and increasing marketability by making the design aesthetically pleasing.
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Figure 10 Final ROV Design
The Slime Shark’s main frame contains all the necessary components of a ROV. Our
design is intended to be simplistic, and easy to build with the resources available.
7.2 Engineering Specifications
The engineering specifications describe the main parts that we have acquired their rating
and other useful information. Some of these parts were obtained from scrape yards so much may
not be known about them. The overall concept of the ROV will include all the components.
7.3 Main Frame
The main frame of the ROV is constructed of 6061 aluminum channel 2 ½” x 1 ½” with a
1/8” thickness. 6061 was chosen because of the overall properties; it has good corrosion
resistance, easy to TIG weld, and can be machined with little problem. Channel was chosen,
both, for its strength properties and ease of welding flat surfaces. The 2 ½” width allows
components, such as, the pressure housing, thrusters, SAD, and lifting flange, to have a stable
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mounting surface. Extra support between frames is provided by ¼” x 1” 6061 aluminum bar.
All joints are TIG welded to specifications.
On the front of the main frame, is two 1 ¼” x 1 ¼” x 12” pieces of 6061 aluminum
square tube. This tubing provides the attachment point for modular apparatus. Four inches in
from the forward end of each tube is a 3/8” diameter hole. This hole is to pin the apparatus
receiver to the main frame.
7.3.1 Thrusters
The Seabotix BTD-150 Thrusters were selected for their power, price and their ease of
control. They use a DC Brush motor. Their picture can be seen below and their spec sheet is
located in the appendix.
Figure 11 Seabotix Thruster photo from Website
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Figure 12 Seabotix Thruster Recieved
7.4 Brush Cleaning Assembly
The brush assembly is a modular component of the Slime Shark ROV. The assembly is
designed to attach to the main ROV frame with a hitch receiver system, similar to those used on
automobiles. This allows the assembly to quickly and easily be removed from the ROV and
another component could be pinned on. Two clevis pins push through the square tubing to hold
the entire brush system in place. A rectangular frame forms the main base of the assembly. It is
constructed of T6 6061 Aluminum channel bar that was cut in half-length wise to form 1.75” x
1.25” angle bar. The bar was cut using a chop saw to achieve the forty-five degree angle cuts.
The pieces were squared and welded together. Next, two 1” Uhmw-Pe polypropolene bearings
were bolted on top of the frame. The benefit of using these bearings is that they are designed for
use in harsh and corrosive environments, which is perfect for a seawater application. The
bearings are self-aligning, which allows for error in positioning of the bearings.
The brush used for the assembly was purchased from Tanis Inc. and is 18” long and 6” in
diameter. The nylon bristles are wound around a steel core and is to be mounted on a 1” keyed
steel shaft. The shaft that runs through the brush is made of steel, and is twenty-five inches
long. It is keyed over the entire length and is secured with setscrews.
On the side of the shaft, a synchronous Gearbelt XL Pulley is mounted. Timing pulleys and belts
were chosen to reduce possible slipping of the brush. This timing pulley allowed for a variable
bore shaft from 5/16” to 1”. The pulley was bore out to the 12” diameter as required for our steel
shaft. The pitch diameter of this pulley is 3.056 inches with 48 grooves. The outer diameter is
3.036”. This pulley system uses a 1/5 pitch and either a ¼” of 3/8” wide XL Series Gearbelt.
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The Gearbelt chosen was a 3/8” wide, 105 tooth, 21” long belt. The belt was constructed of a
neoprene material, which is well suited for a marine environment. The belt connects to another
pulley mounted on a 1600 GPH bilge pump. Another synchronous Gearbelt XL Pulley was used
but only a bore size of 5/16” was required for the shaft of the motor. The pitch diameter of this
pulley is 2.037 “ with 22 grooves. The outer diameter of this pulley is 2.017.
The pump is mounted to the frame by two aluminum collars, which are welded to a piece of
aluminum channel. The channel has two slots located on the bottom, and is bolted to a plate that
is welded onto the main frame of the brush assembly. The channel slots are used to apply proper
tension to the belt, thus reducing the possibility of belt slippage. An aluminum plate with three
grooves attaches the brush assembly to the square tube receiver. The grooves provide a method
to raise or lower the entire brush assembly. This ensures that the brush will never have too much
or too little pressure applied to a vessel hull. Two sections of 1” square tubing are welded to the
vertical adjusting plate. This 1” square tube then is inserted into the 1 ¼” square tube which is
located on the main ROV frame. Two clevis pins are pushed through the receiver system and a
cotter pin is inserted into each clevis pin. This secures the brush assembly and ensures the
assembly does not become separated from the ROV during use. This plate is bolted to the frame
of the brush assembly and the grooves allow the head to move up or down, depending on the
amount of contact required for cleaning.
7.4.1 Brush
The brush core is constructed of polyethylene and is 4 ½” in diameter and 18” in length.
The bristles are constructed of nylon. Nylon was chosen because of its durability and pliability.
Because of its pliable nature, the bristles will not cause destruction of hull components or
antifouling paints. The bristles will extend past the brush core by ½” giving the brush an overall
diameter of 6”.
7.4.2 Shaft
The shaft is constructed of grade 304 stainless steel. The brush slides onto this shaft and
is held in place by two setscrews. Its overall diameter is 1” and is 25” in length.
7.4.3 Bearings
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Supporting each end of the shaft is two 1” Uhmw-Pe Bearings. The bearings are
constructed of polyethylene and are housed in two-bolt stainless steel housing. The bearings are
highly resistant to corrosion, impact and abrasion. They are self-lubricating and are applicable
for wet and harsh environments. The self-alignment property makes it easy to mount the shaft.
Figure 13 Bearing from Granger
7.4.4 Frame
The frame is constructed of 6061 Aluminum square tubing 1”x 1”. This frame will
provide rigidity for the rotating brush as it makes contact with the hull. Two 1”x1”x 12” pieces
of tubing are located on the back of the assembly. This will slip into the two 1 ¼” x 1 ¼” x 12”
located on the main frame. The 1”x1” pieces of tubing also have 3/8” holes drilled in accordance
with the specifications of the main frame tubing receiver. The 3/8” pin will connect the cleaning
assembly to the main frame and till not allow any torque to occur.
7.5 Pressure Vessel
The pressure housing is comprised of a 6” inner diameter aluminum pipe with a length of
12”, and four aluminum flanges in two different sizes. The flanges on the side which the camera
is located are two 7” diameter metal circles. One flange has a metal lip with an o-ring groove to
seal the clear plastic dome that the camera is inserted through. Because of the spacing of the
holes on the flange, the edge of the pipe was beveled with a grinder before it was welded to the
aluminum pipe. On the other end of the pipe, is the second size flange of 8”. The flange has a
doughnut shape, with the 6” diameter center being cut out. This will allow the electronic
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mounting boards to easily slide extracted. Again, this flange is welded onto the aluminum pipe;
however, since it had different hole spacing there was no need for the edge of the pipe to be
beveled first. The o-rings were greased using a thin coat of silicon grease, allowing them to
obtain a seal. The matching flange is then bolted on using ¼” x 20 x 1 ¼” hex cap screws.
7.6 Electronics
In addition to a well designed and constructed frame paired with quality parts an ROV
requires more. To move the ROV and control it in a precise way well designed electronics that
work well with the components purchased must be designed, tested and created. Once this has
been accomplished proper programming must take place to make this successful.
There are two distinct areas where the electronics are located with the Slime Shark. The
first is the topside control box. The other is the bottom side electronics located within the
pressure vessel. The figure below explains in a diluted way where parts of this complicated
system are located. The following are sections that will explain this figure in a greater detail.
Top Side - Control Box
Bottom Side - ROV
Tether
Video Input
Video Overlay
Video Overlay Joysticks (2) Dial ControlDial Control
SAD Brush MotorThrusters (4)Pressure Gauge
Vector Compass
Video from Camera
LEDS for Thruster Feedback
Monitor
Switch
Light
Electronics
Figure 14 Electronics’ Flowchart
7.6.1 Topside Electronics
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The topside electronics is contained within a Pelican 1550 case. The components within
the topside case are for control, feedback, and power supply to the ROV. The Electronics
excluding the monitor are mounted on to two pieces of ABS which are connected using a hinge.
ABS is a type of plastic which is easy to cut. This includes the joysticks which control the
ROV’s main thrusters. The top of the ABS with all the controls can be seen below.
Figure 15 Contorl Box
The joysticks being used are a simple, older model which uses springs and
potentiometers. The joysticks being used are two-axis joysticks which means they use two
potentiometers, one in the X direction and one in the Y direction. An example of our joy stick
can be seen below.
Figure 16 Joystick
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This is the same method used within the dial controls for the SAD and the motor for the
spinning of the brush. The only difference is the potentiometer is in a different orientation so that
it may be spun by hand and not by a spring.
The other form of control is a switch. This is to control the light which is only necessary
to be turned on and off. Currently neither of these switched is connected to the communications
board as one port is an extra for later use and the other is for the light which is currently not
operational.
The communications board uses one PIC 16F876 to receive the control signals from the
above methods of control and completes the required logic for the correct signal to be sent to the
bottom side electronics within the pressure vessel. To communicate with the bottom side
electronics a MAX485 is used. The communications are sent through the tether using two wires.
An LCD is apparent in the schematic that is not seen in the true mounting of this system but is
available for diagnostic purposes. The schematic of the topside communications can be seen
below.
Figure 17 Schematic topside Electronics
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The topside electronics control board is not a pre-made board that can be bought off the
shelf. Instead of ordering this board form a company that could create the foils to allow for a
more compact board the components were mounted onto a bread board. This allowed for more
alterations as they became necessary. Below are photos that show this board.
Figure 18 Topside Communication Population
Figure 19 Topside Communications Wiring
Feedback is received from the bottom side of the electronics. When the control for a
thruster to move either forwards or in reverse is activated, the signal is sent to the electronics in
the pressure vessel. Once this task is completed, feedback is sent back to the topside electronics.
This is then visible though the 8 LEDs located on the ABS mounting plate. If the thrusters are in
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the forward direction a green LED will illuminate; if in the reverse a white one will signify the
task is completed.
The topside control box also allows for measurements. This is most apparent once
opening the box to view a 15” monitor. This monitor is connected to a video overlay system
known as the XBOB as seen below.
Figure 20 XBOB Video Overlay
The video overlay allows for the feed from the camera to be viewed while the values measured
from the pressure transducer and the compass to be viewed on the screen on top.
The topside electronics case also holds 2 of the 3 converters used for powering the ROV.
The two contained are the AC to 12V DC converter and AC to 300 V DC converters. Both
converters are pictured below.
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Figure 21 AC to 12V DC Converter
Figure 22 AC to 300V DC Converter
The 12V DC converter is used to power the monitor and communications board which in turn
sends power so that values can be read from the controls. The AC to 300 V DC converter is used
to send the power to the ROV through the tether. A high voltage is used so that the resistance in
the tether will not waste as much power, because a smaller current is used. The converter
purchased comes with a harmonic attenuator. This is hoped to reduce the electronic noise in the
tether which could affect the video signal. Once the power reaches the bottom side a converter in
the pressure vessel then converts the voltage sent into something more reasonable to power
electronics.
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7.6.2 Bottom Side Electronics
Located inside the pressure vessel is the other side of the ROV’s electronics. To properly
hold these electronics a mounting plate was created and can be seen below.
Figure 23 Pressure Vessel Electronics Mounting
The bottom side electronics are used to power and control the different components. For
the power to be useful when it reaches the bottom side a converter lowers the voltage to 12V.
This converter is a Vicor maxi family type converter as can be seen.
Figure 24 300V DC to 12V DC Converter
This is then supplied to the main control board. The communications also connect to the
main board using another MAX485. There are 3 PIC16F876 packages that are used to control the
components on the bottom side. To control each of the PICs using one communications line each
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PIC must have a separate unique address so the values being sent are not confused. This also
means that the timing of each PIC must be precise. The reason for this many PICs is that each of
the thrusters, the SAD motor and the Brush motor are controlled using PWM. Each PIC is only
supplied with 2 PWM Channels, and the ROV requires 6. This system was designed by Larry
Buist; the Schematic can be seen below.
4
56
U5B74LS00
Ground
J3
Power Input Pins
SPARES
P/C
Dir 3
PWM 4
Spare
3
1
M1
Guide Up
Guide Down
4
2
M6
M5
Digital In
12
1311
U4D74LS00
Analog In 1
Analog In 2
Analog In 3
Left side
Comunications to surface
SAD
LCDOption
1
BrushMotor
Dir 4
1ea LM7805
4ea 74LS00
3ea PIC16F876
32ea N-Ch Mosfets
32ea P-Ch Mosfets
PARTS LIST:
8ea 2N3904
1ea MAX485
M3
12
1311
U6D74LS00
4
56
U5B74LS00
4
56
U6B74LS00
M4
12
1311
U7D74LS00
4
56
U7B74LS00
Dir
9
108
U7C74LS00
PWM 3
9
108
U6C74LS00
SDO
U2-13
U1-13
U1-12
PWM 1 4
56
U4B74LS00
PWM6
PWM5
M2
12
1311
U5D74LS00
Grd
+5v
4
56
U5B74LS00
Grd
+5v
SDO
P/C
CAL
EOC
SCLK
9
108
U5C74LS00
Connection to Compass
1
6
5
4
3
2
SPARE
J2
7
Right side
9
108
U4C74LS00
2
6
5
4
3
4
56
U6B74LS00
J1
7
360
U8
5
8
.1
120
RO1
DI4
RE2
DE3
A6
B7
MAX485
3
4
1
2
Pressure
Compass
PIC16F876
U1
LM7805
Rear Vertical
Front Vertical
PIC16F876
MCLR/VPP/THV1
RA0/AN02
RA1/AN13
RA2/AN2/VREF-4
RA3/AN3/VREF+5
RA4/T0CKI6
RA5/AN4/SS7
OSC1/CLKIN9
OSC2/CLKOUT10
RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP1 13RC3/SCK/SCL 14RC4/SDI/SDA 15RC5/SDO16
RC6/TX/CK17RC7/RX/DT18
VD
D20
RB0/ INT21RB122RB223RB3/PGM24RB425RB526RB6/PGC27RB7/PGD28
19 8
GRD
GrdVIN VOUT
U2
LEDs
MCLR/VPP/THV1
RA0/AN02
RA1/AN13
RA2/AN2/VREF-4
RA3/AN3/VREF+5
RA4/T0CKI6
RA5/AN4/SS7
OSC1/CLKIN9
OSC2/CLKOUT10
RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP113RC3/SCK/SCL14RC4/SDI/SDA15RC5/SDO16
RC6/TX/CK17RC7/RX/DT18
VD
D20
RB0/ INT21RB122RB223RB3/PGM 24RB4 25RB5 26RB6/PGC27RB7/PGD28
19 8
GRD
U2-12
Copyright 2008Larry Buist -
[email protected] (321)674-7216For Ocean Engineering - Florida Tech
J4
4.00MHZ
4
3
2
1
7
6
5
U3PIC16F876
MCLR/VPP/THV1
RA0/AN02
RA1/AN13
RA2/AN2/VREF-4RA3/AN3/VREF+5RA4/T0CKI6
RA5/AN4/SS7
OSC1/CLKIN9
OSC2/CLKOUT10
RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP113RC3/SCK/SCL14RC4/SDI/SDA15RC5/SDO16
RC6/TX/CK17RC7/RX/DT18
VDD
20
RB0/ INT 21RB1 22RB223RB3/PGM24RB425RB526RB6/PGC27RB7/PGD28
19 8
GRD
4
56
U7B74LS00
Grd
+5 volts
Connection to PC Board
and PIC U3 - PORTB
Com
pas
s
EOC
Digital I/0
Dir 1
1K
1K 1K
1K 1K
1K1K
6.8K
6.8K 6.8K
6.8K
6.8K
6.8K6.8K
6.8K
1K
Digital I/0
CAL
GRD
M/SSDI
SDO
SCLK
SS
CAL
Y-FLIP
X FLIP
P/C
RES
BCD BIN
RAW
EOC
CI
+5V
Spare
Dir 2
PWM 2
Some power pins not shown connected on schematic
All ICs have .1uf decoupling cap accross power pins
.1 10uf
Digital I/0
J5
Title
Size Document Number Rev
Date: Sheet of
/SUB3
SLIME SHARK ROV CONTROL BOARD
C
1 1Thursday , June 19, 2008
SCLK
Grd
+5 volts
Digital I/0plus power
J6
Figure 25 ROV Main Board Schematic
This board could also not be purchased off the shelf and instead was designed and sent to
a company which was able to create the board and send it so that it may be populated with
components. Once populated, the board was programmed so that it may be used. The populated
board can be seen below.
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Figure 26 Bottom Side ROV Main Board
Pulse width modulation uses a square wave and the average of the duty cycle to control
the speed of the motors, this method allows for very precise control. Each control has 256
degrees of control this allows for the thrusters to have 128 degrees in the forward direction and
128 in the reverse. This method is also used for the SAD and Brush motor, with changes in the
programming that account for these motors being mono directional.
To allow the thrusters to go in both the forward and reverse directions, H Bridges are
used. This is a system of transistors that are opened and closed using the PIC that allows the
direction of the current to be controlled which determines the turning direction of the motors.
One of the main worries when using transistors in this fashion is overheating. In this design the
transistors did not warm when tested.
Other forms of control are for the light which is strictly on and off.
The main board also supplies power to the compass and the pressure transducer and read
the values they supply. Although it is not connected to the main board, the camera is also
supplied with 12V DC and a video feed is returned directly to the tether. These are then sent to
the top side for viewing. The camera, compass board, and pressure transducer are shown below.
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Figure 27 Camera
Figure 28 Compass Board
Figure 29 Pressure Transducer
7.6.3 Water Proof Connectors
The thrusters, SAD, brush motor, and light are all located outside of the pressure vessel.
To control them they must be connected to the main board. Water proof connectors from a
previous year’s senior design ROV were found and used. Water proof connecters are also used to
connect the tether to the ROV.
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7.6.4 Programming
Programming was completed in Basic which allowed for many people to help. The code
for our topside communications can be seen in the appendix. Two people that made a major
contribution to the programming who are not on the senior design team are Larry Buist and
Thaddeus Misilo. For our design certain software additions were required of else the hardware
would not function properly. An example of this is to address which PIC the topside PIC was
speaking to. Another requirement was with the use of H bridges. If the person controlling the
ROV with the Joystick jerks forward and then reverse it could open two of the transistors at the
same time which would short the circuit. This would largely damage the hardware. To alleviate
this issue a pause was put in when traveling from the forward to reverse direction at the duration
of half a second.
7.7 Suction Attachment Device
The Suction Attachment Device (SAD) will suction the Slime Shark to the boat hull for
cleaning and inspections. The SAD is a large ducted fan thruster using a bilge pump as the
motor. The idea of using a bilge pump came from Michael Plasker who had pervious experience
with this concept. A Photo of this can be seen below.
Figure 30 Suction Attachment Device
A West Marine 1600 GPH bilge pump was used. After acquiring the pump, a bollard test
was completed in the pool to determine the amount of thrust the pump and fan could provide.
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An old ducted fan was converted into the skeleton of the SAD; the motor was taken off,
the propeller was saved, and the round motor collar was cut off. A new collar was made to fit
the bilge pump; the collar was then welded onto the duct. The bilge pump was then screwed into
the collar using #10-32 x 1 ¼” machine screws. The bilge pump shaft was a keyed 3/8” shaft,
which fit the propeller perfectly. The SAD is screwed into the front of the frame and into the
SAD cross member mount welded onto the frame.
8.0 Ethical Issues
In any design there are ethical issues that are involved; the Slime Shark is no different.
The issues involved in this project did not have a major effect on the design process. Instead all
of the issues can be resolved in further small changes to the project as can be seen in the
recommendations
8.1 EPA Compliance
Since the Slime Shark will be built non-EPA compliant, engineering ethical issues come
into play. The plume of slime admitted into the water should not be very visible to the naked eye
because of the slow speed of the ROV on the boat hull. Furthermore, we do not believe the
pressure from the brush head on the boat hull will cause any damage to antifouling coatings; this
fact is important part of the EPA standard of boat cleaning not to admit any toxic particles into
the water. Another reason the ROV is not EPA compliant is because the ROV will be for private
use. The EPA mandate states the “permit requirement does not apply to boat owners who are
cleaning their own boats, but it does apply to anyone who professional cleans boats in a marina”
(Boat Cleaning 4-91). We will not be cleaning ships professionally. The ROV will only be
cleaning hulls in the testing phase rendering the regulation invalid. If any further testing at
marinas is to be completed, the group recommends the ROV be modified so it will be EPA
compliant. The Slime Shark not being EPA compliant at the present time is acceptable since it is
taking into consideration the spirit of the law.
8.2 Cavitation
The brush head attachment may cause cavitation to occur while in use in the water.
“Cavitation occurs when vapor bubbles form and collapse. This phenomenon will cause noise in
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the water” (Wood). A rotating brush will act similar to a ship’s propeller, causing noise.
Different city, state and/or national statues regarding noise need to be followed. This is a legal
issue that needs to be examined issue. The instant at which cavitation will occur can be solved
by the following:
σ = (Po-Pυ) / .5(ρ*v²)
Cavitation is dependent on speed, depth, temperature, and salinity of water. Noise in
water will affect marine life. If an area of the port is too noisy, it will have less marine life
activity.
Not only is cavitation an ethical issue, it is a potential flaw in the design. When the air
bubbles from cavitation collapse as they move to a region of higher pressure they can damage the
surface of the ROV, causing erosion. Pitting in the aluminum frame may be caused from
cavitation. Pitted metal will shorten the design life of the Slime Shark ROV.
9.0 Safety
There are many safety issues that must be taken into consideration while building and
testing the Slime Shark. The issues range from simple common sense issues to more complex
safety procedures. When any material is used the MSDS should be referenced to follow the
specific guidelines OSHA impended.
Most of the build phase of the ROV will be completed in the Florida Tech machine shop.
While working in the shop eye protection must be warn at all times to protect our eyes from
flying materials on the machines, both from the ROV and other projects being worked on while
at the machine shop.
Figure 31 Use of Safety Equipment
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Closed toe shoes must be worn while at the machine shop; this will protect our feet if anything is
dropped. No baggy clothing can be worn; this will drastically reduce the possibility of clothing
being caught in a machine. Another machine shop safety rule states there will be no jewelry,
rings must be taken off and necklaces tucked under shirts. An additional safety rule is never to
work alone in the machine shop; at least two people must be present at a time. Before machining
any parts, the MSDS sheets for the specific material should be reviewed to check any additional
safety precautions. Lastly, hair must be pulled back to prevent it being caught in a machine.
The pressure housing and other components of the ROV will be welded to the main
frame of the Slime Shark; when welding the group will be following the safety guidelines as
prescribed by the American Welding Society. Contacts should not be worn while welding (Fact
Sheet 12 1), even though a welding mask must be worn with safety glasses worn underneath the
welding helmet (Fact Sheet 31- 1). Wear flame retardant clothing or at the minimum non-
flammable clothing should be worn (Fact Sheet 7 -1). The welding should be completed in a
well ventilated area. Radiation could occur while welding if the proper rules are not followed,
such as welding helmets that have UV protection, and respiratory when the MSDS sheets require
such action. (Fact Sheet 2 1). If radiation happens the result could be burns or eye injury.
Before welding, the guidelines should be reviewed.
Others tools used in the machine shop also have safety factors that need to be followed
for their use. A couple of these tools were identified while completing this project.
While grinding the aluminum metal, during the build phase of the frame additional safety
issues were identified. Heavy aprons were worn to protect the tool user from the metal shards
flying off when using both the hand grinder and the right angle hand grinder. When the hand
grinder was being used, in addition to the heavy apron, all present in the metal ship was wearing
eye protector and ear plugs.
Also, a miter saw was used to cute the 45° angle edges in aluminum angle iron. The saw
causes aluminum shavings to fly off, therefore eye protection was worn. Ear protection was also
worn because of the noise.
In the future, the outside shell of the Slime Shark will be fiberglass and using epoxy resin
105 from West Systems. Epoxy resin should be used in a well ventilated area, and a respirator
should be worn to protect oneself from the fumes. After using the epoxy resin all exposed skin
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areas should be washed thoroughly to prevent skin irritation; in addition, gloves and long sleeve
should be worn to protect the skin (West Systems 2). Also when handling, eye protection should
be worn.
Electronic safety must be considered when building the electronics and circuit boards.
Before working on the circuit boards we must ground ourselves, to prevent a static discharge
onto the board. If the board is to be tested with batteries, do not mix rechargeable with non-
rechargeable batteries. When building the circuit boards for the ROV, the components will be
soldered to the boards. Even though soldering safety seems like common sense it still must be a
priority. Never touch the end of the soldering iron; as it will leave a burn on the skin. After
working with solder, thoroughly wash your hands since solder can contain lead. Soldering must
be completed in a well ventilated area.
There are many safety rules that need to be followed during the build phase of the ROV.
However, the ROV will be built safely and successfully because this group is aware of all the
safety precautions.
10.0 Budget
Our budget is split up into two main areas, time costs and equipment costs. The first
listed is the most commonly thought of for budgets. Following is the time expenditures and an
estimated cost from the time spent by key people to design and begin building of the Slime
Shark.
10.1 Bill of Materials
The Bill of Materials below explains the costs of the purchases that have been made and
the total amount of money spent. Many items that are needed are either available from previous
projects or as a donation. The items listed as a $0.00 cost are under this category.
Our original maximum allowed budget was set at $1500.00 through the Marine Field
Project funds. This was changed for unknown reasons to $1000.00, Dr. Wood helped us obtain
additional funding which enabled us to purchase better equipment for the ROV, namely the
Seabotix thrusters. Afterwards the team was fortunate enough to be granted some extra funds
from the school in the amount of $2500. Through thriftiness and searching this budget has been
able to go a long way. A table of full expenses can be seen in the appendix.
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10.2 Time Expenditures
Time was very difficult to log and therefore two methods were created. Both are
viewable in the appendix. The team members worked very hard to complete their project and
nearing the end would put about 60 hours per week in to this project.
11.0 Results
Our project has resulted in an impressive prototype ROV with all the electronics that
could be required to control it. The ROV has a frame that allows for things to easily be added
and removed. The brush design is an early concept that can be used for testing different types of
brushes. It is hoped that in the future another design team would like to take over this project and
make it their own, so that one day the Slime Shark will be marketable.
12.0 Conclusion
It is believed that our ROV has an overall good design and that the team has performed
on time and within budget. We had a well built ROV to present at the DMES Field Project 2008
Symposium, and hopefully will have a shell and everything properly mounted to be an
impressive fully operational ROV in time for the May Senior design showcase.
12.1 Recommendations
The recommendations of improvements for the Slime Shark ROV would allow for a
highly marketable product to a variety of customers.
12.1.1 Addition of a Second Camera
The addition of a second camera to add a rear view will be highly useful to the Slime
Shark. This would allow the pilot to see what has been cleaned without turning the ROV around,
saving time. It would give the pilot a better understanding of the ROV’s placement on the boat or
in a reef area. The purchase of a second camera and creation of an additional pressure vessel to
contain the camera is recommended. This would need to be mounted on the rear of the ROV.
Suggested placement is on the tail area above the rear thruster. The video from the second
camera would need to be sent to the main pressure vessel to be transferred to the tether for
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viewing on the display screen topside. A second screen would need to be purchased or
development for a split screen or a switch to go between video feeds would be necessary.
12.1.2 EPA Compliance through a filtering system
The current design the Slime Shark is not compliant for professional usage due to EPA
regulations. This is due to the clean water act, which is concerned with the void of dissolved
oxygen in some green slimes and cloudy water from removing the bio-fouling of a boat hull. The
EPA Regulation states “Discharge of any processed water by a marina or boatyard is illegal
nationwide without a formal permit from EPA or state government. This permit requirement
does not apply to boat owners who are cleaning their own boats, but it does apply to anyone who
professionally cleans boats in a marina.” National Management Measures Guidance Section 4.13
Boat Cleaning (United States).
For the Slime Shark to become EPA compliant, a cloudy water removal system must be
implemented. This could be completed in a number of ways; the most logical choice would be to
have a filtering system incorporated into the brush system, making it more like a pool vacuum.
There could be a tube of some sort attached to the rear of the brush head area allowing the dirty
water to travel into the body instead of the surrounding water. In the body of the ROV would be
a filter that would remove the particulates and would then allow the cleaner water to exit either
mid or rear body. Another method which would be more expensive and time consuming would
be to have the dirty water pumped to the surface where it would be stored in a holding container
to be disposed of properly.
12.1.3 Creation of other Head Units
One reason the Slime Shark is potentially extremely marketable is the removable head
units. Other head units could be designed, built and tested for use on the Slime Shark. Different
brushes allow for cleaning of different slimes, therefore a multitude of brushes could be designed
depending on the cleaning requirement. Another potential head unit design would be for
scientific equipment.
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12.1.4 Wireless Control
The wireless control option would allow for the cleaning of other environments. This
would also remove the risk of the ROV becoming tangled or the tether applying force on the
ROV in the case of the “tail wagging the dog.” To implement this, the proper circuitry boards
must be designed and built. The main problem is that the sending and receiving of information
through a water medium is very difficult. A work around for this issue is to program the ROV
into an autonomous mode while it is at the surface or to have a tether attached to a receiver at the
surface such as a buoy. This may still have the issue of the tether controlling where the ROV
moves because of surface currents.
12.1.5 Autonomous Cleaning
Autonomous programming would allow for the Slime Shark to complete many tasks
simultaneously. Programming could include hull cleaning which would require additional
sensors to be added to the Slime Shark for the ROV to determine its own location. This would
allow for cleaning to occur without a pilot and around the clock, and its duration only dependant
on the brush and battery.
12.1.6 Online Control
The idea to have the web control as a future recommendation for the Slime Shark came
from the articles IRL: An Interactive Real- Time Logging System for ROVs and The Streaming
Data Management Challenge: integrating Multiple Channel of Real- Time Data from a Variety
of Sources- and Logging – in a Flexible and Familiar Environment.
The Canadian Scientific Submersible Facility uses an HTML format for its cruises for
manned and unmanned ROVs. By using this format it allows “each gathering its own specified
input: logged text, positioning data, digital frame grabs” (Juniper 1) to be networked. This
method uses four main work stations, a hot seat researcher, event logging, image logging, and
continuous video archiving. This method allows real time data to anyone through the website; in
addition each member of the research team then gets a CD with all the information from the
cruise on it.
At this stage having the HTML access is not practical because of cost issues. A new
tether would have to be purchased since “all the data and video are multiplexed through a fiber-
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optic system from the vehicle cage to the surface winch, increasing bandwidth and depth
capability” (Shepherd 1). In addition, the main goal of the Slime Shark ROV is to clean hulls,
when the additional attachments heads are made including the research science instrumental
head, this would be a great way to collect the data, letting scientists see it in real time on the web.
The thought of HTML also gave the team the idea for the design showcase. The goal is to make
an interactive presentation on the computer; an image of the ROV will be visible, giving the user
the option to click on the different components. When different components are selected,
various information is displayed.
12.1.7 Cathodic Protection
The Slime Shark is made almost exclusively of aluminum 6061- T6; however, the
brush mechanism shaft is stainless steel. Since the slime shark will be in water, corrosion is
possible. A two part cathodic protection plan should be enacted; the first being on the ROV
frame and the second on the brush mechanism. The more advanced of the two protection
systems will be on the brush head since that the only place there will be a mixing of metals.
Both stainless steel and aluminum 6061- T6 are components of the brush head. A zinc
sacrificial metallic anode should be used.
An anti-foiling paint will not be used in conjunction with the anode. Since the Slime
Shark will not be in the water continuously it is unlike that bio-fouling will occur. Also if the
paint was to chip or scratch it would cause more corrosion issues then if there was no paint.
Even with the anodes, other precautions should be taken. Whenever the Slime Shark is removed
from the water, it would be thoroughly rinsed with fresh water. When not in use, it should be
stored indoors. These simple measures will help prevent corrosion.
12.1.8 Custom Brush
It is recommended the current brush head be replaced with a custom designed brush. A
custom designed brush would allow cavitation to be minimized. A study should be completed
similar to Dr. Gregory Swain’s study of brushes with the Hull Bug ROV to maximum slime
removable with the minimum amount of time. This would drastically increase marketability of
the Slime Shark.
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12.1.9 Fiberglass Shell
In the original Slime Shark ROV concept, the fiberglass shell was in the design concept.
The shell was to be placed and attached to the body frame and brush assembly frame. Due to
both time and budget constraints this idea was scrapped. For aesthetic reasons, a fiberglass shell
should be added. Again this would increase the marketability of the ROV. It would allow the
ROV to stand out from its competitors. A project could be specifically devoted to designing and
building the shell because of its complexity. The basic form would need to be designed with
‘holes’ to let water circulate to allowed the SAD and bilge pumps to work correctly. Inputting
the basic concept design of the Slime Shark into ProEngineer will take an extended time because
of the amount of surfaces involved.
12.1.10 Pressure Vessel Front Flange
The front pressure housing flange, which is welded onto the pipe with an o-ring groove
for the camera dome was machined incorrectly. An acceptable o-ring was found as a
replacement. The o-ring being substituted is still not correct for the groove, yet the pressure
housing is not leaking during any of the water submersion tests. In the future an o-ring for the
specific grove dimensions should be used. If this is unavailable, the front flange should be cut
and a new one machined with a groove for acceptable o-ring. The new o-ring should be able to
withstand the pressure of the back flange o-ring. By instituting this recommendation, the
pressure housing will be that much stronger and less prone to a leak.
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13.0 References
American Society of Welding. “Safety and Health Fact Sheet No. 2- Radiation.” October 2003.
<http://files.aws.org/technical/facts/FACT-02.PDF>
American Society of Welding. “Safety and Health Fact Sheet No. 7- Burn Protection.”
September 1995. <http://files.aws.org/technical/facts/FACT-07.PDF>
American Society of Welding. “Safety and Health Fact Sheet No. 12- Contact Lens Wear.
September 1995. <http://files.aws.org/technical/facts/FACT-12.PDF>
American Society of Welding. “Safety and Health Fact Sheet No. 31- Eye and Face Protection
for Welding and Cutting Operations. December 2006.
<http://files.aws.org/technical/facts/FACT-31.pdf>
Florida Institute of Technology. “Florida Institute of Technology Diving Control Program.”
2005.
Juniper, S. Kim, John F. Garrett, Keith Shepherd, Keith Tamburri, Kim Wallace. “IRL: An
Interactive Real- Time Logging System for ROVs.”
Ledford’s Royal Swimming Pools. Automatic Pool Cleaners. 2008. 13 Mar. 2008
<http://www.royalswimmingpools.com/Polaris.htm>
Nova Ray. Revolutionizing the ROV Industry....... Again!. 2006. 13 Mar. 2008
<http://www.novaray.com/index.htm>
Ocean Engineering & Production, Inc. “Tether Management System.”<www.hboep.com>
Pentair Water. Automatic Pool Cleaners. Onga. 13 Mar. 2008
<http://www.onga.com.au/www/109/1001127/displayarticle/1001229.html>
Pool Merchants. Aquaproducts: The World’s Leader in Robotic Pool Cleaning. 2004. 13 Mar.
2008 <http://www.poolmerchants.com/page5.html>
Roper Resources Ltd. VHC Underwater Crawler. 2004. 13 Mar. 2008
http://www.roperresources.com/pdfs/VHC-underwater-crawler.pdf
Seabotix. International Ocean Systems. January/February 2007. Volume 11 Number 1. Pg 4.
Shepherd, Keith and Kim Wallace. “The Streaming Data Management Challenge:
integrating Multiple Channel of Real- Time Data from a Variety of Sources- and
Logging – in a Flexible and Familiar Environment.” www.irls.ca
"Testing the Thrust of Your Motors." Weblog post. Swimmy Thang! . 15 Mar. 2007. 22
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July 2008 <http://swimmythang.blogspot.com/2007/03/testing-thrust-of-your-
motors.html>.
TTCP MATERIALS TECHNOLOGY AND PROCESSES GROUP. "Prevention of Marine
Growth on Naval Vessels." Defense Technical Information Center . Ed. TECHNICAL
PANEL TTCP – MAT-TP-6. Aug. 2007. 13 Apr. 2008
<http://www.dtic.mil/ttcp/casmat2.htm>.
United States. Environmental Protection Agency. "Section 4." National Management Measures
Guidance to Control Nonpoint Source Pollution from Marinas and Recreational Boating.
By Edwin Drabkowski.Vols. EPA 841-B-01-005. Office of Water, 2001. Nov. 2001.
EPA office of Water. 13 Apr. 2008 <http://www.epa.gov/nps/mmsp/section4.pdf>.
Ward, Chris. ROV.net. 2002. Work Ocean Limited. 13 Mar. 2008 http://www.rov.net/
West Systems Inc. “Material Safety Data Sheet West Systems Inc. Resin 105.” 3 January 2008.
http://www.westsystem.com/webpages/userinfo/safety/MSDS105.pdf
Wood, Stephen. "Fluid Mechanics." Fluid Mechanics Class Lecture. Link Building, Florida
Institute of Technology. Fall 2007.
14.0 Appendices
Attached is information that is useful to better understand the Slime Shark ROV and its
team. First is the information relative to the ROV and following is the resumes of the individual
team members.
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Appendix A.1 Hand Calculations for Pressure Vessel
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Appendix A.2 Seabotix Ad
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Appendix A.3 Resume – Kelley Pitts
Kelley S. Pitts FIT 5968 1399 Gray Haven Ln. 150 West University Blvd. Brighton, MI 48114 Melbourne, FL 32901 (321) 480-7314 (321) 480-7314 [email protected] [email protected]
OBJECTIVE: Seeking a position that will allow me to develop and build my ocean engineering skills with a career path that allows for advancement and making positive contributions. EDUCATION: Florida Institute of Technology Bachelor of Science, Ocean Engineering, expected graduation August 2008 Relevant Courses:
Instrumentation Design and Measurement Analysis Mechanics of Materials Hydro-Acoustics Hydromechanics and Wave Theory
EXPERIENCE:
Slime Shark ROV: Design and build ROV to conduct hull inspections and cleaning in a team atmosphere
Coastal Structure Breakwater: Designed a breakwater per specifications Field Project: Competition of Marine Field Project, including a research boat expedition
in July of 2008.
WORK EXPERIENCE: Store Associate, Kohl’s, Brighton, MI, 10/2005 – Present
Assist customers, merchandising, register and unloading truck Office Assistant, Alumni Department, Florida Institute of Technology, 9/2004- 5/2007
General office work including updating databases Assistant Pool Manager, Waldenwoods Recreational Resort, summers 2001-2005
Manage pool, scheduling, water sampling, and assisting resort members SKILLS:
Software: Dr. Frame; Matlab; ANSYS; ACES; Eagle; MP Lab; ProE Programming Skills: C++; C; HTML Computer Platform: Microsoft Windows (XP, Vista); Mac OS Proficient in Microsoft Office Suite (Word, Excel, PowerPoint); Access; Project Machine Shop certification May 2008 FIT Dive certification May 2008
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Appendix A.4 Resume – Amy Pothier
Amy Pothier Florida Institute of Technology Student
[email protected] Home 321-725-8563 Cell 860-460-4440
506 Cornell Ave
Melbourne, FL 32901 US
OBJECTIVE Obtain an entry-level engineering position utilizing my education and training in ocean engineering. EDUCATION Florida Institute of Technology, Melbourne, FL Bachelor of Science in Ocean Engineering candidate Anticipated graduation, Dec. 2008 Three Rivers Community Technical College, Norwich, CT Associate of Science, Mechanical Engineering Technology, May 2004 CAD Certification, May 2004 GPA 3.47 RELEVANT COURSEWORK • Senior Design Project Member of the ROV design team. Concept design is a hull cleaning, remotely operated vehicle called the Slime Shark. Vehicle is being designed to clean and inspect the hulls of mid-sized pleasure craft. The Slime Shark is currently in design phase and will be constructed Summer 2008. EXPERIENCE Melbourne Greyhound Park, Club 52 Poker Room, Melbourne, FL Feb 2005 - present Floor Supervisor • Demonstrate leadership skills to facilitate an organized, profitable business • Guide staff and patrons in accordance with governing State of Florida Gaming Laws • Train staff and law enforcement Foxwoods Resort Casino, Mashantucket, CT June, 1996 - Aug., 2004 Table Games Dealer • Assisted customers betting requirements in accordance with State of Connecticut gaming laws. • Provided a superior level of customer service while maintaining game security. Mystic Marine Basin, Old Mystic, CT Feb., 1994 - Jan., 1998 Owner/Operator • Operated 39 slip, full service marina • Created proposals and job bids • Responsible for service contracts, marine store inventory, and accounting A & A Research, Inc., Noank, CT May, 1990 - Jan,. 1994 Owner/Operator • Conducted side-scan sonar surveys using a Klein 595 dual frequency sonar. • Compiled results, performed data analysis and formulated reports as required. • Projects include: Pensacola Shipwreck Survey Dive Into History Project SKILLS • Auto Cad • Rhinoceros • Ansys • Microsoft Office including: Word, Excel, Access, PowerPoint, and Publisher
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Appendix A.5 Resume – Amanda Mackintosh
AMANDA MACKINTOSH 3151 S. BABCOCK ST, APT 179 PHONE 561 346 9666 MELBOURNE, FLORIDA 32901 [email protected] OBJECTIVE To further develop skills and knowledge in Ocean Engineering and create positive contacts. EDUCATION Florida Institute of Technology, Melbourne, FL
B.Sc. in Ocean Engineering, expected May 2009 In process of Junior/Senior design were team is designing and building a ROV
WORK EXPERIENCE FALL 2007- PRESENT SUMMERS 2006 , 2007 SCHOOL YEAR 2004 – 2005
Work Study, Underwater Technologies Lab, FIT, Melbourne Florida Further knowledge of underwater technology, specifically in the fields of ROVs and AUVs. Assist in completed the Autonomous Mobile Buoy Project through the control box and other
electronics Camp Assistant, Everglades Youth Conservation Camp, FAU, North Palm Beach Florida
Assisted Camp Coordinator with duties through staff evaluations and conflict resolution Taught students basic survival skills for the outdoors, canoeing and archery. Organized and coordinated social activities for campers. Have been employed every year since 2004 and before volunteered.
Intern - Engineers, Designers, Fabrications Inc, North Palm Beach, Florida Re-organized a library for ACE auditing. Performed regular office duties such as formatting drawings.
COMMUNITY SERVICE FIRST Lego League FL State Championship 2008 Judge
Wow That’s Engineering volunteer Participated in many Alpha Phi philanthropy events such as Duck Dash, Send your Crush a Crush Relay for Life volunteer Co-Coached a competitor for Big Man on Campus 2007 (Fund raiser for Heart Assn.)
CERTIFICATIONS First Aid, CPR, Basic Water Safety, Blood Bourne Pathogens, FL Tech Respirator SKILLS Microsoft Office, C++, Lab VIEW, Eagle, MP Lab EXTRACURRICULAR ACTIVITIES Secretary, Order of Omega Honor Society (Fall 2007 – Present)
Keep minutes of meetings Membership/ Recruitment Vice President, National Panhellenic Conference (Fall 2007 – Present)
Plan and execute formal recruitment for Panhellenic organizations on campus, our events including freshman move in, Sorority introductions
Train Rho Gammas, recruitment advisors Guide the revision of recruitment rules with Panhellenic organizations Attended South Eastern Panhellenic Conference to further develop leadership skills
Lady Guard, Alpha Phi International Fraternity – (Spring 2008 – Present) participating in intramural Flag Football, Soccer, Ultimate Frisbee promoting Alpha Phi ideals such as scholarship and philanthropy Previously Panhellenic Delegate (Spring 2007 – Spring 2008) Active Sister (Spring 2006 – Present)
Current Member, Marine Technology Society- (Spring 2006 –Present) Previously Historian (Spring 2006 –Spring 2007)
Current Member, Society of Women Engineers (Spring 2007 – Present) HONORS Florida Institute of Technology’s Deans List
Robotics/ Academic Scholarship Florida Bright Futures Medallion Scholarship
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Appendix A.6 Resume – Michael Plasker
5466 Serviceberry St. Centreville, VA 20120
Phone 703-585-4695 E-mail [email protected]
Michael Plasker
Education Florida Institute of Technology 2005 – Present Melbourne, Florida Degree in progress: BS Ocean Engineering
Four semesters undergraduate studies including C++ programming and introductory engineering courses such as Physics, Chemistry, Statics, Dynamics, Thermodynamics and Materials
Thomas Jefferson High School for Science & Technology 2001 – 2005 Alexandria, Virginia
Electives included JAVA programming, Marine Biology and an Oceanography Tech-Lab
Work Experience
Ocean Technology Group (University of Hawaii) Summer 2007 Honolulu, Hawaii Supervisor: Dr. Bruce Applegate
Worked as a shipboard technician on the RV Kilo Moana. Duties included deck operations, over the side operations, sonar operations and overseeing the general safety of the science party.
United States Geological Survey Summer 2006 Reston, Virginia Research Advisor: Michael P. Ryan
Three months of volunteer work modeling magma flows, including data analysis using Excel and modifying and running related FORTRAN programs. Taught myself the FORTRAN programming language for this project.
Interests Underwater Remotely Operated Vehicles (ROVs) Florida Tech Ultimate Frisbee Team (2005)
Activities Marine Advanced Technology Education (MATE) National ROV
Competition, NASA Space Center Houston, Texas (2005) High School Marching Band (2001-2005) Marching Band Leadership (2003-2005) Competitive High School Ultimate Frisbee Team (Spring 2005) Competitive Archery (1999-2005)
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Appendix A.7 Resume – Jeffrey Pollard
Jeffrey Pollard FIT Box 6577 11940 Appaloosa Run E Melbourne, FL 32901 Raleigh, NC, 27613 (919)-608-9703 (919)-847-0931 [email protected] Objective: Career in Ocean Instrumentation or ROVs/AUVs Education: Bachelor of Engineering, Ocean Engineering Florida Institute of Technology, Melbourne, FL Currently a Junior with 83 credits completed or in completion and a current GPA of 3.87 High School Diploma 2006 Trinity Academy of Raleigh, Raleigh, NC Graduated with Honors - 3.9 GPA Work Experience: Head of Construction, Heartbandit Productions, Raleigh, NC 2005-2007 Designed and constructed stages and sets for a performing arts group 2004-2005 Shift Manager, Carvel Ice Cream, Raleigh, NC Duties included, general cleaning of facilities, organizing inventory, making product, counting the register, and locking up the business in the evening. Volunteer Experience: Boy Scouts of America Eagle Scout Project, Raleigh, NC Organized and scheduled construction of six picnic tables as well as delivery Coalition for the Homeless, Orlando, FL Worked on grant research and other administrative tasks as well as facility management. Skills: Familiar with CADD packages Prosurf 3, Pro Engineer, and ANSYS Activities: Phi Eta Sigma Honor Society 2007 - current Intervarsity Christian Fellowship, Florida Tech chapter - 2006 - 2008 Boy Scouts of America, Eagle Scout, 1998-2006
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Appendix A.8 Bill of Materials
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Appendix A.9 Basic Code Topside
'******************Amanda - OE - "Joycontrol1"******************** DEFINE OSC 4 DEFINE ADC_BITS 10 ' set to ten bits DEFINE ADC_CLOCK 3 DEFINE ADC_SAMPLEUS 50 '.......................CONFIGURE LCD DISPLAY.......................... DEFINE LCD_DREG PORTB'..... set data port DEFINE LCD_DBIT 4'......... set starting data bit DEFINE LCD_RSREG PORTB'.... set rs port DEFINE LCD_RSBIT 3'........ set rs bit - pin 24 DEFINE LCD_EREG PORTB'..... set en port DEFINE LCD_EBIT 2'......... set en bit - pin 23 DEFINE LCD_BITS 4'......... set LCD buss size - 4 or 8 bits DEFINE LCD_LINES 4'........ set number of lines on LCD DEFINE LCD_COMMANDUS 2000'.. set command delay time in us DEFINE LCD_DATAUS 100'...... set data delay time LCDOut $fe, 1 'clear LCD adcon1.7=1 TRISA=%111111 TRISB=0 TRISC=0 ch1 VAR WORD ch2 VAR WORD ch3 VAR WORD ch4 VAR WORD ch5 VAR WORD
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Appendix A.9 Basic Code Topside Cont. ch6 VAR WORD M1spd VAR WORD M2spd VAR WORD calcspd VAR WORD M1D VAR BIT m2D VAR BIT Start: ADCIN 0, ch1' pin8 forward/reverse numeric (front-back) ADCIN 1, ch2' pin7 forward/reverse (side-side) ADCIN 2, ch3' pin6 ADCIN 3, ch4' pin5 ADCIN 5, ch5' pin9 - with RCO low High PORTC.0' RCO ADCIN 5, ch6' pin10 - with RCO high Low PORTC.0 Pause 10 'Check if in Center IF ch1>500 AND ch1<520 Then ' joystick in center M1spd = 0 M2spd = 0 EndIF IF ch2 > 500 AND ch2 < 520 Then m1spd = 0 m2spd = 0 EndIF
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Appendix A.9 Basic Code Topside Cont. 'Rotate on Axis IF ch1>500 AND ch1<520 AND ch2 > 520 Then m1spd= (ch2-520) m2spd= m1spd m1D=1:m2d=0 EndIF IF ch1>500 AND ch1<520 AND ch2 < 500 Then m1spd= (500-ch2) m2spd= m1spd m1D=0:m2d=1 EndIF 'Moving Forward IF ch1 > 520 Then ' steer motors forward M1spd = ch1-520 M2spd = ch1-520 M1D=1:M2D=1 ' direction EndIF 'Moving Reverse IF ch1 < 500 Then ' steer motors reverse M1spd = 500-ch1 M2spd = 500-ch1 M1D=0:M2D=0'direction EndIF
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Appendix A.9 Basic Code Topside Cont 'Turning while moving IF ch1 > 520 OR ch1 < 500 AND ch2 < 500 Then calcspd = 500-ch2 IF m1spd < calcspd Then m1spd = 0 Else M1spd= M1spd - (500 - ch2) EndIF EndIF IF ch1 > 520 OR ch1 < 500 AND ch2 > 520 Then calcspd = ch2-520 IF m2spd < calcspd Then m2spd = 0 Else M2spd= M2spd - (ch2 - 520) EndIF EndIF display: LCDOut $fe,$80," It Works :) "' print 1st line LCDOut $fe,$C0,"ch1= ",DEC4 ch1," ch2= ", DEC4 ch2 ' print 2nd line LCDOut $fe,$94,"m1= ",DEC4 m1spd, " m2 =",DEC4 m2spd ' print 3rd line LCDOut $fe,$D4,"M1D =",DEC1 M1D," M2D= ",DEC1 m2D'print 4th line Pause 100 GoTo start
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Appendix A.10 Hour Charts Week 4 through End
Amy Jeff Mike Kelley Amanda Week 4 26-May 3 2 3 4 27-May 2 2 3 3 2 28-May 4 2 2 3 5 29-May 2 2 2 3 3 30-May 2 2 2 1 2
Total 13 10 12 10 16 Week 5 31-May Cruise Cruise Cruise Cruise Cruise
1-Jun Cruise Cruise Cruise Cruise Cruise 2-Jun Cruise Cruise Cruise Cruise Cruise 3-Jun Cruise Cruise Cruise Cruise Cruise 4-Jun Cruise Cruise Cruise Cruise Cruise 5-Jun 0 1.5 2 0 3 6-Jun 3 1.5 5 3 4
Total 3 3 7 3 7 Week 6
7-Jun Saturday Saturday Saturday Saturday Saturday 8-Jun Sunday Sunday Sunday 3 Sunday 9-Jun 2.5 3 4 3
10-Jun 3 3 3.5 4 11-Jun 3.5 3 4 5 12-Jun 3 2 4 6 13-Jun 1.5
Total 0 12 11 18.5 18 Week 7
14-Jun Saturday Saturday Saturday Saturday Saturday 15-Jun Sunday Sunday Sunday Sunday Sunday 16-Jun for Week 3 5 2 3 17-Jun for Week 3 3 2 18-Jun for Week 2.5 4 2 19-Jun for Week 3 4 5 20-Jun 15.5 1.5 4 3
Total 15.5 13 5 17 15 Week 8
21-Jun Saturday Saturday Saturday Saturday Saturday 22-Jun Sunday Sunday Sunday Sunday Sunday 23-Jun 8 2.5 2 3 4 24-Jun 3 4.5 3 4 25-Jun 3 1 3 5 26-Jun 3 1.5 3 3 27-Jun 7 2.25 3.5 3 7
Total 13.75 12.5 15 23
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Week 9
Amy Jeff Mike Kelley Amanda 28-Jun Saturday Saturday Saturday Saturday Saturday 29-Jun Sunday Sunday Sunday Sunday Sunday 30-Jun 4 1 5
1-Jul 4 0 6 2-Jul 5 8 10 3-Jul 7 8.5 5 4-Jul 2.5 0 7
Total 22.5 17.5 29 33 Week 10
5-Jul Saturday Saturday Saturday Saturday Saturday 6-Jul Sunday Sunday Sunday Sunday Sunday 7-Jul 7 8 8-Jul 5 7 9-Jul 8.5 6
10-Jul 0 9 11-Jul 9 9
Total 38.5 30 29.5 37 39 Week11 Week11
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Appendix A.11 Hour Chart from beginning