SPROVERSPROVERSurf Profiling Remotely Operated Surf Profiling Remotely Operated

VehicleVehicle

TEAM MEMBERSTEAM MEMBERS

BRIAN SMETTSBRIAN SMETTSJEFF BIRMINGHAMJEFF BIRMINGHAMNICOLAS DUGELAYNICOLAS DUGELAYNIRAJ PATELNIRAJ PATEL

HISTORYHISTORY

Original ROV was Original ROV was designed to obtain a designed to obtain a beach profilebeach profileNever passed original Never passed original pool testpool test

FLAWS IN OLD DESIGNFLAWS IN OLD DESIGN

Housing designsHousing designs•• Instrumentation HousingInstrumentation Housing•• Motor HousingMotor Housing

•• Transmission designTransmission design•• Shaft connectionsShaft connections•• Hub connectionsHub connections

•• Electrical designElectrical design•• Inadequate tether for power transmissionInadequate tether for power transmission

OBJECTIVESOBJECTIVESDesign and manufacture instrumentation Design and manufacture instrumentation and motor housingsand motor housingsCreate instrumentation to assist in the Create instrumentation to assist in the data collection of a beach profiledata collection of a beach profileObtain a beach profileObtain a beach profile

INSTRUMENTATION HOUSINGINSTRUMENTATION HOUSING

SPROVERSPROVER’’ss craniumcraniumCylindrical ShapeCylindrical ShapeAccessibility and Accessibility and convenienceconvenienceRoom for future Room for future instrumentationinstrumentation

INSTRUMENTATIONINSTRUMENTATION HOUSINGHOUSING

BODY SPECIFICATIONSBODY SPECIFICATIONS

66””, 2 ft section of PVC piping as shell, 2 ft section of PVC piping as shellOptimal diameter and length for buoyancy Optimal diameter and length for buoyancy and instrumentation purposesand instrumentation purposesBody wrapped in carbon fiber for Body wrapped in carbon fiber for waterproof seal at flange/body surface waterproof seal at flange/body surface and strengthand strength

FLANGE,OFLANGE,O--RING & BOLTS RING & BOLTS

10.510.5”” outside diameteroutside diameter——allows room for allows room for oo--ring groove and bolt holesring groove and bolt holesBolt holes threaded with steel insertsBolt holes threaded with steel inserts3/83/8--16 stainless steel bolts16 stainless steel boltsPTFE Dash # 442 OPTFE Dash # 442 O--ringringCast Acrylic EndCast Acrylic End——transparencytransparencyWaterproof connectorsWaterproof connectors

FLANGE DRAWINGS FLANGE DRAWINGS

INSTRUMENTATION HOUSINGINSTRUMENTATION HOUSING

HOUSING SUPPORT CAGEHOUSING SUPPORT CAGE

Constructed out of two 3Constructed out of two 3””x 72x 72”” x x ¼”¼” sections of sections of sheet metalsheet metalRigid design with easy Rigid design with easy usage usage Strap to hold housing in Strap to hold housing in place; enough strength to place; enough strength to create neutral buoyancy create neutral buoyancy effecteffect

HOUSING IN CAGE PICTUREHOUSING IN CAGE PICTURE

MECHANICSMECHANICS

Design and Manufacturing of Shaft and Design and Manufacturing of Shaft and torque connectionstorque connectionsDesign and Manufacturing of Motor Design and Manufacturing of Motor housingshousingsRectification and modification of current Rectification and modification of current shaft housings and wheel hubsshaft housings and wheel hubs

SHAFT DESIGNSHAFT DESIGN

Designed to rotate freely without the use of Designed to rotate freely without the use of bearingsbearingsManufactured using Aluminum to prevent Manufactured using Aluminum to prevent corrosioncorrosionDesigned with hub and coupling connectors Designed with hub and coupling connectors for transmission of torquefor transmission of torqueDesigned with a factor of safety of 3 to Designed with a factor of safety of 3 to prevent shearing of transmissionprevent shearing of transmission

SHAFT AND MOTOR ASSEMBLYSHAFT AND MOTOR ASSEMBLY

Hub connection

Coupling connection

Bearing-less shaft housing

MOTOR HOUSING DESIGNMOTOR HOUSING DESIGN

Designed to:Designed to:Allow rotation of motor shaftAllow rotation of motor shaftAllow easy assembly and disassembly of Allow easy assembly and disassembly of housingshousingsFit on the existing vehicleFit on the existing vehicle

MOTOR HOUSING MOTOR HOUSING

Static O-ring for motor protection

Flange design for easy assembly

CROSSCROSS--SECTION VIEWSECTION VIEW

Static O-ring for safety

Dynamic shaft seal

COMPLETE TRANSMISSION COMPLETE TRANSMISSION ASSEMBLYASSEMBLY

Shaft housing holster

Shaft coupler

Housing connection

ELECTRONICSELECTRONICS

Electronics were divided into 2 parts:Electronics were divided into 2 parts:

Control systems: obtained from previous Control systems: obtained from previous teamsteams

Instrumentation: design and constructionInstrumentation: design and construction

CONTROL SYSTEMSCONTROL SYSTEMS

7000 watts generator7000 watts generatorTether: 500 ft Tether: 500 ft –– strandedstranded

Provides 110 V to the electric motorsProvides 110 V to the electric motors

Data cable: 500 ft Data cable: 500 ft –– 6 conductor6 conductorinclinometerinclinometerBW cameraBW cameramotors controlsmotors controls

INSTRUMENTATIONINSTRUMENTATION

BW cameraBW camerato to ““seesee”” where the where the SROVSROV’’erer is goingis goingobserve sea lifeobserve sea life

Laser range finderLaser range finderto obtain the distance of the ROV from the beachto obtain the distance of the ROV from the beachcan measure up to 800 yardscan measure up to 800 yards3 foot precision3 foot precision

GPSGPSProvides a way to position the vehicleProvides a way to position the vehicle

INSTRUMENTATIONINSTRUMENTATION

InclinometerInclinometergives the tilt and heading of the ROVgives the tilt and heading of the ROV

33--axis compassaxis compassxx--yy axis sensoraxis sensorzz--axis sensoraxis sensor

2 axis accelerometer2 axis accelerometer

INCLINOMETERINCLINOMETER

Board designed using Eagle 6.1 softwareBoard designed using Eagle 6.1 software

Board manufactured by Advanced CircuitsBoard manufactured by Advanced Circuits

Components added to the boardComponents added to the board

Microcontroller programmed using C languageMicrocontroller programmed using C language

INCLINOMETERINCLINOMETER SCHEMATIC (Eagle 6.1)SCHEMATIC (Eagle 6.1)

INCLINOMETER BOARDINCLINOMETER BOARD

1-axis sensor

2-axis sensor

accelerometer

INSTRUMENTATIONINSTRUMENTATION

All electronics were designed to fit in the housingAll electronics were designed to fit in the housing

Inclinometer

Control box

Computer

TV set

Motors controls

Camera

Motors

Motors InstrumentationCONTROL SYSTEMCONTROL SYSTEM

TESTINGTESTING

3 tests were performed to meet the 3 tests were performed to meet the design objectivesdesign objectives

Pool TestPool TestOcean TestOcean TestBeach Profile TestBeach Profile Test

POOL TESTPOOL TEST

Primary goal was to assure that Primary goal was to assure that mechanical aspect of the vehicle would mechanical aspect of the vehicle would work in a water environmentwork in a water environmentResults:Results:

Instrument Housing had no leaksInstrument Housing had no leaksMotor housing had no leaksMotor housing had no leaksTransmission of electrical data to motor was Transmission of electrical data to motor was successful with no short circuits or power losssuccessful with no short circuits or power loss

OCEAN TESTOCEAN TESTObjective was to test Objective was to test the ROV under the the ROV under the exact conditions that exact conditions that it would face when it would face when obtaining a beach obtaining a beach profileprofileResults:Results:

All components work All components work great togethergreat together

BEACH PROFILE TESTBEACH PROFILE TEST

Objective was to Objective was to test the ability of test the ability of the vehicle, the vehicle, equipped with equipped with instruments, to instruments, to obtain a beach obtain a beach profileprofile

PROCEDURE FOR BEACH PROCEDURE FOR BEACH PROFILINGPROFILING

Attach a survey stick Attach a survey stick to the mast and set to the mast and set up survey scopeup survey scopeRecord height Record height values and values and inclinometer data inclinometer data every ten feetevery ten feetInterpret the dataInterpret the data

DATA INTERPRETATIONDATA INTERPRETATION

We are able to obtain a rough We are able to obtain a rough measurement of the beach profile based measurement of the beach profile based solely on the use of the scope readingssolely on the use of the scope readingsUsing a correction based on the inclination Using a correction based on the inclination of the vehicle, we are able to make a of the vehicle, we are able to make a necessary corrections to determine the necessary corrections to determine the actual beach profileactual beach profile

CORRECTIONSCORRECTIONSSince the vehicle is inclined, the angle of Since the vehicle is inclined, the angle of inclination must be known to determine inclination must be known to determine the actual height of the vehiclethe actual height of the vehicle

THE BEACH PROFILE THE BEACH PROFILE Profile of Beach 1 Mile South of Melbourne Beach

-10

-8

-6

-4

-2

0

2

0 20 40 60 80 100 120

Distance From Refrence Point (ft)

Dep

th re

lativ

e to

wat

erle

vel (

ft)

MeasuredProfile

CorrectedProfile

VEHICLE AND INSTRUMENTATION VEHICLE AND INSTRUMENTATION APPLICATIONS APPLICATIONS

The vehicle is proven to take accurate and The vehicle is proven to take accurate and efficient profile up to 500efficient profile up to 500’’ from the shorefrom the shoreUsing the inclinometer along with a GPS Using the inclinometer along with a GPS system the position of the vehicle within system the position of the vehicle within ++ 1ft1ftProvides a research platform for the study Provides a research platform for the study of biological, chemical, physical, and of biological, chemical, physical, and geological properties of the surf zone geological properties of the surf zone

LOCAL IMPACTS ON ROVLOCAL IMPACTS ON ROV

Ready for use in the surf zone to begin Ready for use in the surf zone to begin mapping the Brevard coastline mapping the Brevard coastline Can assist ecologists and engineers in the Can assist ecologists and engineers in the study of beach erosion along our coastlinestudy of beach erosion along our coastlineMay also be used to gain a better May also be used to gain a better understand of the movement of sand understand of the movement of sand through the different seasons and years in through the different seasons and years in the Brevard areathe Brevard area

TESTING VIDEOTESTING VIDEO

QuestionsQuestions

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