Mission: A Small ROV for a Big Port Jesuit High School | Carmichael, California, United States
“Advancement of Knowledge Through Exploration of the Unknown”
ROV Design Rationale This year, Rovotics developed a lightweight, compact, and versatile ROV that can safely and reliably perform tasks for the Port of Long Beach. Lazarus’ modular design makes it highly field serviceable, and it features a pilot perspective camera system and multifunctional Specialized Mission Assist ROV Tool Technology (SMART-Tech) tools that make it fully capable of assisting in the construction of a hyperloop cargo transportation system, maintaining the port’s fountains, identifying contaminants as part of the port’s cleanup program, and locating and marking sunken freight containers holding hazardous content. Lazarus’ lightweight and compact modular frame consists of clear polycarbonate top and bottom decks connected by struts. Cradles holding the electronics housing and six compact and powerful thrusters are mounted to the top deck, while the bottom deck holds onboard tools and the video junction box. The electronics housing and top deck are easily separable from the bottom deck via four screws, resulting in a highly serviceable ROV. The watertight acrylic electronics housing is an integral part of the frame’s structure and also serves as the buoyancy device for the vehicle, eliminating the need for a separate buoyancy. Lazarus’ modular and serviceable electronics feature Rovotics-designed controller boards tailored to specialized functions, and compact and reliable voltage converters with built-in protection features. Custom video boards enable two servo-mounted navigational cameras and six pilot perspective task cameras, and multiple sensors monitor vehicle condition and position to provide system status and enable precision navigation. Lazarus boasts a completely new Rovotics-designed topside software platform. The modular Lazarus poolside. architecture increases serviceability and operational efficiency, and is supported on a wide variety of [Photo Credit: Jesuit Robotics. 2017.] hardware. Our refined Graphical User Interface and Heads-Up Display provide sensor and telemetry data and include an array of safety features, such as vehicle status alerts and hotkeys, to shut the ROV or individual components down in the event of a complication. Intuitive controls allow the pilot to complete tasks such as moving rebar, replacing fountain caps, collecting samples, and marking containers with high-risk cargo precisely and efficiently. Lazarus’ modular frame, electronics, and software designs result in a reliable and easily serviceable ROV that is ideal for use in one of the world’s busiest seaports. Features like multicolor LED status lights and integrated tether buoys that double as navigation aids ensure a safe working environment for the ROV and crew, and a pilot perspective camera system and multifunctional SMART-Tech tools ensure that tasks are completed efficiently and consistently, making Lazarus the best ROV for port cities of the future like Long Beach.
Lazarus underwater with deck crew above. [Photo Credit: Jesuit Robotics. 2017.]
SMART-Tech Tools
Specialized Mission Assist ROV Tool Technology
Gripper
A pneumatic piston moves the jaw, and SMART-Tech cutouts securely hold different objects. A magnet on the jaw pulls the platform pin, and a dedicated camera gives a wide-angle view of the tool and objective. [Photo Credit: Jesuit Robotics. 2017.]
Valve Turner
A SMART-Tech alignment cone and strategically placed camera help the pilot easily guide the faceted, threepronged tool onto the faucet, and the cone is also used to lock and unlock the fountain locking mechanism. [Photo Credit: Jesuit Robotics. 2017.]
Core Sampler
A dedicated camera and SMARTTech alignment cone help position the ROV over the sediment, and a central location on the ROV and oversized collection tube with check valve result in larger, more secure samples. [Photo Credit: Jesuit Robotics. 2017.]
Radio Frequency Identification (RFID) Sensor/Spectrometer Array A RFID activation light, RFID sensor, and simulated raman spectrometer are combined into a compact array at the front of the ROV that doubles as a general work light. [Photo Credit: Jesuit Robotics. 2017.]
Harvester
A bottom shelf with a sloped edge uses hydrodynamic force to push objects such as clams and beacons into a cage. A swing gate operated by the gripper ensures objects are securely contained after collection. [Photo Credit: Jesuit Robotics. 2017.]
CAD model of Lazarus.
[Photo Credit: Jesuit Robotics. 2017.]
Rebar Tool
A magnetic retrieval system and pneumatic release mechanism efficiently move rebar. A dedicated camera and SMART-Tech cone help the pilot quickly engage with the rod, and the tool serves as the fourth strut of the ROV.
[Photo Credit: Jesuit Robotics. 2017.]
Buoy Marker
A magnet and custom carabiner securely attach the marker to a container holding high-risk cargo, and a PVC coated nylon line unspools as the marker floats to the surface to identify the container’s location. [Photo Credit: Jesuit Robotics. 2017.]
Jesuit Robotics Abstract
Theme
Rovotics is an engineering company specializing in the design, manufacture, and operation of underwater Remotely Operated Vehicles (ROVs). ROVs are tethered, unmanned, highly-maneuverable, underwater robots that are safely operated from the surface. Our company is comprised of highly-skilled engineers with multiple years of experience, providing us with the expertise to tackle many challenges. For the past eleven years, Rovotics has successfully manufactured ROVs tailored to complete specific tasks, including exploration of shipwrecks in the Great Lakes in 2014, scientific research and oilfield maintenance in the Arctic in 2015, and exploration of Jupiter’s moon and the Gulf of Mexico in 2016. This year, Rovotics presents Lazarus, our most versatile ROV yet, and optimized to efficiently complete tasks in the Port of Long Beach. Lazarus is fully equipped with specialized tools to assist in construction of a hyperloop cargo transportation system, maintain the port’s fountains, identify contaminants as part of the port’s cleanup program, and locate and mark sunken freight containers holding hazardous content. Specialized tools allow port employees to insert rebar reinforcement rods into steel baseplate, install new fountain caps, collect sediment samples from contaminated areas, and create survey maps of high risk areas of port seafloor. Rovotics’ design process included whiteboard drawings, prototypes, 3D modeling and extensive component-level and in-water testing. We manufactured the vast majority of Lazarus’ components in-house with a mix of conventional shop equipment and advanced processes using a Computer Numeric Control (CNC) mill, 3D printer, and custom circuit board fabrication.
For decades, companies have used human divers to complete underwater tasks. Busy harbors around the world, such as the Port of Long Beach, have constructed subsea infrastructure that requires constant maintenance. With labor costs and safety risks increasing, however, many ports have questioned the risks of using human divers and have turned to ROVs as an alternative. ROVs can be used to efficiently and safely perform tests and tasks, even in areas that are inaccessible by human divers. Founded in 1911, the Port of Long Beach is the second busiest seaport in the United States, and accounts for 1.4 million jobs. For an enterprise that handles more than $180 billion worth of cargo each year, even a short disruption in port activities can lead to millions of dollars of lost revenue and negatively impact the overall economy as well.1 Recognizing the need for precise and efficient solutions, ROV developers have created machines capable of performing many tasks within the port, like hull inspections and underwater surveillance, helping the Port of Long Beach streamline the aerial view of quay cranes and shipping flow of cargo through the facility and ensure An containers at the busy Port of Long Beach. security, thus allowing it to stay competitive [Photo Credit: Unknown. WorldMaritimeNews.com.] with other busy seaports around the world. ROVs allow for speedy inspection of ships entering the port, avoiding unnecessary delays and ensuring efficiency and safety when a human diver is required. Aquabotix, a commercial ROV producer, notes that ROVs “can survey the worksite and get good information into the dive planner’s hands before anyone puts a foot in the water.”2 ROVs are an invaluable tool regardless of whether a diver is involved in the task or not. Advancements in ROV technology have enabled their use in Underwater Inspection in Lieu of Dry-Docking (UWILD) assessments, which avoid costly and time-consuming dry docking of vessels for mandated inspections. UWILD inspections are particularly dangerous for human divers, but are easily and safely accomplished by ROVs. Using ROVs also means that UWILD inspections can be conducted offshore before the vessel enters the port, further streamlining the flow of vessel traffic.3 Port security is also enhanced by the use of ROVs, which are an integral part of an underwater surveillance system implemented by the Port of Long Beach including sonar heads and several VideoRay ROVs. As noted by Lt. Cmdr. Alan Tubbs of the U.S. Coast Guard's Maritime Homeland Security Group for the Pacific Area, "Until now, we've always been on top of the water, from the surface up, we can't ignore from the surface down."4 VideoRay ROVs have sensors with abilities no diver could possibly match and they help the Port of Long Beach locate and remove narcotics and dangerous objects from vessel hulls, protect the port’s piers, and identify moving objects in the water.5 A VideoRay ROV performing As intelligent as their human pilots, as precise a hull inspection. as the machinery they hold, ROVs incorporate [Photo Credit: Christian Skauge. ScubaPixel.com.] the best of both worlds to push beyond the limitations of human divers. For the bustling Port of Long Beach, and other busy seaports around the world, ROVs are a significant advancement of technology and a boon to the economy with applications nearly anywhere in the world and for any underwater task.
Rovotics staff with Lazarus.
[Photo Credit: Jesuit Robotics. 2017.]
Company Information
Carson Black.................................. Grade 12
Daniel Brennan............................... Grade 10
Andrew Chang................................ Grade 12
Adam Graham................................. Grade 10
Mechanical Engineer
Electrical Engineer, Electronics Lead, CEO
Nick Ellis......................................... Grade 12 Mechanical Engineer, Mechanical Design Lead
Matthew Kiyama............................. Grade 12 Software Engineer, Research and Development Lead
Sam Kreifels.................................... Grade 12 Mechanical Engineer, Manufacturing Lead
Cassidy Nguyen............................. Grade 12 Software Engineer, Software Lead
Drake Charamuga........................... Grade 11 Mechanical Engineer
Sam Paragary................................. Grade 11 Marketing and Publications Lead
Noah Pettinato................................ Grade 11 Software Engineer
Risheek Pingili................................ Grade 11 Software Engineer
Gavin Remme................................. Grade 11 Marketing and Publications, Safety Officer
Mechanical Engineer Software Engineer
Hayden Kaufman............................ Grade 10 Electrical Engineer
Austin Law...................................... Grade 10 3D Modeling/CAD Lead
James Monroe................................ Grade 10 Mechanical Engineer
James Whitcomb-Weston.............. Grade 10 Mechanical Engineer
Alex Cherry....................................... Grade 9 Mechanical Engineer
Michael Equi..................................... Grade 9 Electrical Engineer
Aidan French..................................... Grade 9 Software Engineer
Caelin Sutch...................................... Grade 9 Marketing and Publications
Mentors: Jay Isaacs, Steve Kiyama
Company Evaluation
1 “Facts at a Glance.” Port of Long Beach, n.d., http://www.polb.com/about/facts.asp. Accessed 29 May 2017. 2 “Expanding A Commercial Diving Business With An ROV.” Aquabotix, 10 March 2016, http://www.aquabotix.com/blog/expanding-a-commercial-diving-business-with-an-rov. Accessed 4 June 2017. 3 Warner, Cody. “UWILD Best Practices.” Deep Trekker, 27 August 2015, https://www.deeptrekker.com/uwild-best-practices/?locale=en. Accessed 3 June 2017. 4 Tyler, David. “Port of Long Beach employing ROVs for underwater surveillance.” Professional Mariner, 14 May 2007, http://www.professionalmariner.com/May-2007/Port-of-Long-Beach-employingROVs-for-underwater-surveillance/. Accessed 4 June 2017. 5 “VideoRay Military ROVs - Port Security.” VideoRay, n.d., http://www.videoray.com/applications/militaryapp/port-security-mil.html. Accessed 1 June 2017.
Acknowledgements
In another challenging yet rewarding year, Rovotics has built upon the success of 2016’s Cuttlefish and delivered Lazarus, which improves upon Cuttlefish’s compact and lightweight design and introduces a completely new and intuitive software platform built from the ground up by Rovotics’ engineers. The result is an easily maneuverable, state-of-the-art ROV, delivered on time and on budget, and customdesigned to meet the needs of the Port of Long Beach. Rovotics’ greatest strength is the combined use of Computer Aided Design (CAD), structured project management, and pre-production independent unit testing, which results in well-designed components verified for functionality. We also benefit from our mentoring process, in which senior employees train new employees and ensure they adhere to strict safety protocols, and corporate memory, which allows us to build on past experience. Lazarus’ greatest strengths are its lightweight body and high thrust to weight ratio, allowing it to move swiftly and precisely without a loss in speed or agility. The modularity of its frame, electronics, and software platforms make it readily serviceable. It also benefits from custom-designed electronics and software, which enable Lazarus’ maneuverability and responsive controls. One of our biggest challenges this year was creating a new software platform before Lazarus was complete enough to test the code on directly. To address this, we built three different unit-testing platforms that allowed us to test ROV systems on land and in the water and perfect Our unit- testing ROV, the vector-thrust configuration before integration. This Bumblebee. allowed for continuous, parallel development among [Photo Credit: Jesuit Robotics. 2017.] all Rovotics departments. Despite the challenges it presented, successfully implementing the new software platform was the most rewarding part of designing Lazarus this year. Mastering the project management system that enabled us to navigate such a large undertaking was enormously satisfying, as was our successful troubleshooting and resolution of various difficulties we encountered during the process, such as a faulty thruster and Ethernet issues we discovered during software and electronics integration. Next year, our Electronics department plans to continue the development of custom ROV control boards that will increase the versatility of our modular design, as well as adopt improved production methods that will decrease our failure rate in manufacturing custom boards.
MATE Center and Marine Technology Society - Sponsoring this year’s competition National Science Foundation - Their funding of the MATE competition Long Beach City College - Hosting this year’s MATE competition Oceaneering International - Their support of the MATE competition Jesuit High School - Generous donation of funding and pool time Jay Isaacs, Head Coach - His time, creativity, knowledge, and guidance for the past twelve years Steve Kiyama, Assistant Coach - His time, experience, and guidance for the team Cheryl Kiyama, Operations Manager - Her time, experience, and management of the team Jim Claybrook of Weldmasters - Welding services MacArtney Connectors - Providing connectors at a reduced rate GitHub - Providing complimentary private code repositories Travis CI - Providing continuous integration for private GitHub Repositories TAP Plastics - Donation of stock plastic SolidWorks - Donation of SolidWorks 3D Software FMC/Schilling Robotics - Facility tour and project management training OpenROV - Facility tour and consulting on Node.js programming Kennedy High School - Assistance with machining large parts Mentors - Marc Aprea, Heath Charamuga, Doug Ellis, Chris French, Craig Law, Jayanth Pingili, Dawn Remme, David Weston, Kelly Whitcomb-Weston Alice Gabbert and the Whitcomb-Weston Family/Weston & Associates Mechanical Engineers, Inc. - Their generous donations to the team Our Families - Their continued support and encouragement
www.marinetech.org
[Background Photo Credit: Skip O'Donnell. 2014. California.]
www.jesuitrobotics.com