JESUIT R
JESUIT HIGH SCHOOL, CARMICHAEL, CALIFORNIA, UNITED STATES
ABSTRACT Rovotics is an engineering company specializing in the design, manufacture, and operation of underwater Remotely Operated Vehicles (ROVs). ROVs are tethered, unmanned, highlymaneuverable 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 (Figure 1). For the past twelve years, Rovotics has successfully manufactured ROVs tailored to complete specific tasks, including scientific research and oil field maintenance in the Arctic in 2015, exploration of Jupiter’s moon and the Gulf of Mexico in 2016, and maintenance in the Port of Long Beach in 2017. This year, Rovotics presents Mako, our most versatile ROV that is optimized to efficiently complete tasks in the Pacific Northwest. Mako is fully equipped with specialized tools to locate, identify, and retrieve the wreckage of an aircraft, service an undersea earthquake-monitoring platform, as well as install a tidal turbine and a sensor array. These tools allow the ROV to identify ID numbers on aircraft parts, latch a tidal turbine securely, inflate and release lift bags, level an undersea earthquake-monitoring platform, and utilize software that calculates depth and distances. Rovotics’ design process included whiteboard drawings, prototypes, 3D models, and extensive component-level and in-water testing. We manufactured the vast majority of Mako’s components in-house with a mix of conventional shop equipment and advanced processes using a Computer Numerical Control (CNC) mill, 3D printers, and custom circuit board assembly.
Figure 1. Rovotics team. [Photo Credit: Jesuit Robotics]
DESIGN RATIONALE This year, Rovotics has developed a ROV designed to operate in the ocean environments of the Pacific Northwest. A rigid aluminum and clear polycarbonate structure, adjustable buoyancy, compact electronics, improved Topside Control Unit (TCU), as well as a feature-packed yet easy-to-use software interface make Mako our most versatile and advanced ROV yet (Figure 3). Optimized for modularity, Mako is designed to be lightweight, compact, and serviceable (Figure 4). Mako’s frame consists of two decks connected by four rigid aluminum struts. The top deck consists of two wings connected by four cradles and two outside sealing flanges, maximizing the usable internal volume of the electronics housing. The tool deck is mounted to the struts and is made of clear polycarbonate for a better view of tasks. Two powerful thrusters are mounted on the top deck, increasing speed and operational efficiency of the ROV. Four thrusters are attached to the four struts and can be adjusted to support a wide range of tool payloads. As a precaution, all thrusters include safety guards and labels. Mako’s buoyancy consists of the electronics housing, four adjustable tubes, and removable foam modules. The electronics housing is an integral part of the frame’s structure and also serves as the main buoyancy component of the ROV. The four adjustable buoyancy tubes consist of pistons that slide through the tubes, changing the water displacement. Additional foam modules are added and subtracted to vary the buoyancy. This system enables Mako to handle a varying tool load in different working environments. Mako’s Compact, Organized, and Removable Electronics (CORE) was designed to provide reliability and serviceability, include a wealth of safety features, and come in an incredibly compact package. This flexible electronics system allows for modular components that increase operational efficiency and decrease downtime, a critical factor in any successful ROV operation. Additionally, the compact electronics plays an important role in providing the flexibility required for the adjustable buoyancy system. A highly visible LED ring uses different colors to communicate Mako’s operational status to the deck crew, further enhancing ROV safety. Other safety features are also implemented in the power supply systems, such as overcurrent and short circuit protection. Our new TCU was designed for improved deck crew operations. The TCU is efficient and streamlined, housing all components in a portable Pelican case. A fully-customizable touch screen allows the TCU to accommodate additional functions through software updates rather than hardware changes. The TCU contains modular components to ensure field serviceability, and two large HD monitors display a live video feed and controls for the pilot and copilot. Our redesigned pilot and copilot interface was designed to display real time ROV status in an easy-to-read format. The flexible software design allows for easy expansion or removal of ROV functions. Software safety features are used to detect events such as ROV communication loss, power loss, or system crashes, and to ensure that the ROV always defaults to a safe operating mode by disabling all thrusters and tools. Furthermore, the pilot system and ROV software work in tandem, providing smart safety features that monitor unforeseen conditions and react accordingly.
COMPANY INFORMATION Grade 9 - Alden Parker - Software Grade 9 - Andrew Chin - Electronics Grade 9 - Avery Gonsalves - Electronics
Grade 11 - Hayden Kaufman Electronics Lead Grade 11 - Adam Graham - Software
Grade 9 - Luke Rosellini - Mechanical
Grade 11 - Daniel Brennan Manufacturing
Grade 9 - Joe Watanabe - Mechanical
Grade 11 - Austin Law - CTO
Grade 10 - Aidan French - Software
Grade 12 - Sam Paragary - CEO
Grade 10 - Jaiveer Gahunia - Software
Grade 12 - Noah Pettinato - Software
Grade 10 - Michael Equi – R&D Lead
Grade 12 - Drake Charamuga – Manufacturing
Grade 10 - Caelin Sutch - Media Lead/Software Grade 11 - James Whitcomb-Weston Manufacturing Lead Grade 11 - James Monroe - Mechanical
Adjustable Buoyancy
Grade 12 - Risheek Pingili - Software Lead Jay Isaacs - Head Coach Steve Kiyama - Assistant Coach
COMPANY EVALUATION/ MARKET ASSESSMENT Rovotics’ greatest strengths are the combined use of Computer Aided Design (CAD), structured project management, and pre-production independent component testing (Figure 2), 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 carry forward corporate memory, enabling us to build on past experience. Mako’s greatest strengths are its lightweight body and high thrust-to-weight ratio, allowing it to move swiftly and precisely without a loss in maneuverability. The modularity of its frame, electronics, and software platforms make it readily serviceable. It also benefits from customdesigned electronics and software, which enable Mako’s agility and responsive controls. One of Rovotics’ measures of success for Mako was the improvement of our electronics module, a previous year’s challenge, by making it smaller, more serviceable, and more capable. Although the goal was to create a compact and capable electronics system, the previous year’s circuit board development process caused significant reliability and assembly problems. However, these problems were overcome this year with refinements to the electronics development process. One area of needed improvement is in our Research and Development (R&D) process. Conflicts between multiple R&D project deadlines resulted in the need for significant changes that required frequent redirection of time and manpower, causing many of those projects to fall short of their final platform. This inefficient use of time hindered further development of a robust ROV platform. Next year the R&D department will allot time for projects differently and ensure that ambitious projects with strong interdepartmental dependencies are closely watched, thereby avoiding conflicts and the overstretching of manpower. The most rewarding parts of our experience have been the invaluable skills and knowledge gained through the numerous challenges faced while qualifying and preparing for the MATE Figure 2. Rovotics independent component testing. [Photo Credit: Jesuit Robotics] International Competition.
Mako’s adjustable buoyancy makes it easy to add or subtract from Mako’s existing tool load. Precise adjustment of buoyancy distribution is available from four adjustable buoyancy tubes and four sheets of layered buoyancy.
1
Handle Turner
An alignment cone allows the pilot to easily guide the multi-pronged tool onto and securely rotate an Ocean Bottom Seismometer’s (OBS) legs to level a unit.
Figure 3. Mako. [Photo Credit: Jesuit Robotics]
Figure 4. Mako’s frame. [Photo Credit: Jesuit Robotics]
Compact Size At 30cm x 58cm x 58cm, Mako is Rovotics’ most compact ROV yet due to decreased electronics size. This compact size and portability increases Mako’s versatility in a variety of situations and ability to maneuver precisely without losing ROV power.
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Inductive Power Coupler
Powering an OBS is simplified by the coupler’s 9-volt battery that powers an inductive transmitter. Its conic design and electromagnetic release allows for easy alignment with the receiving port and deployment of the coupler.
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Figure 5. Mako’s Handle Turner. [Photo Credit: Jesuit Robotics]
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Acoustic Doppler Velocimeter (ADV)
In order to easily measure water velocity using an ADV, Mako includes a dedicated camera and a hydrodynamic housing that holds the ADV. This makes aligning the ROV to the mooring line and attaching the ADV a simple task.
Figure 7. ADV. [Photo Credit: Jesuit Robotics]
Figure 6. Inductive Power Coupler. [Photo Credit: Jesuit Robotics]
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Lift Bags
Mako’s lift bags utilize a “harpoon”like design, making it easy to connect the pneumatically-inflated bags to the debris and engine. An acoustically-triggered release mechanism rotates a jackscrew to disengage the debris lift bag for reuse.
Figure 8. Lift bags. [Photo Credit: Jesuit Robotics]
Figure 11. Mako. [Photo Credits: Jesuit Robotics]
5
Gripper
A pneumatically-actuated piston with a return spring moves the jaw while custom cutouts adapt to and securely hold different objects. Two dedicated cameras give a wide-angle view of the tool and objective, simplifying the task for the pilot.
Figure 9. Gripper. [Photo Credit: Jesuit Robotics]
Software Tools Mako has three software tools, an OBS interfacing WiFi tool that allows Mako to read transmitted data from a platform, an aircraft identification tool that enables the ROV to locate and identify aircraft tail markings, and a tidal measurement tool that determines the optimum locations for tidal turbines. Additionally, simple measuring tools determine a placement location of a mooring line, and a depth sensor allows the ROV to find the placement height Figure 10. Software Tools of the ADV. [Photo Credit: Jesuit Robotics]
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COMPETITION THEME From fields of renewable energy to historical research, ROVs perform a variety of difficult tasks in complex environments. Alongside ROVs, newly developed Autonomous Underwater Vehicles (AUVs) have recently begun to play a key role in a multitude of industries1. Earthquake research, aircraft and disaster recovery, tidal turbine construction, and marine habitat monitoring have been improved by the use of ROVs and AUVs. Earthquake monitoring is a complex task requiring a multitude of sensors and kilometers of fiber-optic cable that connect these sensors on the ocean floor (Figure 12). Accessing these sensors for repair can be a challenging task, even for ROVs. Over a kilometer below the surface is the Cascadia subduction zone, which harbors a variety of deep sea sensors and fiber-optic cables that connect these sensors. Every year, Ocean Networks Canada is responsible for servicing and upgrading these deep sea observation structures. Strong wind and waves make this task nearly impossible for normal ships, but an easy task for ROVs2. Along with being well adept at managing deep sea sensor arrays, ROVs have served an important role in downed flight investigations and recovery missions. When Air France Flight 447 crashed and plunged deep in the Atlantic Ocean, it was inaccessible by divers. Experts decided to use ROVs to recover its “black box”. ROV Nereus, from Woods Hole Oceanographic Institution, took on the task of recovering the black box from a depth of 6,000 meters and in a search zone of about 1.6 square kilometers. In this situation, the ROV took on a nearly impossible task Figure 12. Earthquake Monitoring Sensors on the ocean floor. with limited resources. However it was still [Photo credit: Unknown. OceanNetworks.Ca] far more likely that the black box could be retrieved, ultimately giving more information to flight investigators regarding the cause of the crash3. Natural disasters are often a socioeconomic issue. ROVs play an essential role in a government’s recovery process by ensuring that critical infrastructure is operating safely and efficiently. ROVs also assist with search and rescue in locations that human divers cannot reach or are too few in numbers to work effectively. For example, in Japan, ROVs were used in a fiveday period to inspect six disaster sites following the 2011 Tohoku earthquake and tsunami. The ROVs also searched for victims trapped underwater in marinas, bridge debris, and waterfront residential areas. ROVs were chosen because they are more readily-available and cost-effective to search and rescue teams than skilled divers4. Renewable energy sources, such as tidal turbines, are part of a rapidly growing industry with demand for ROVs. Often, the construction of renewable energy installations occurs in shallow waters with high currents and wave action where normal deep sea construction vessels cannot operate. For example, Saab Seaeye underwater vehicles are the perfect tool for construction and monitoring of installations in the renewable energy field5. University of Washington is using ROVs to deploy sensor pods that monitor the long-term effect of renewable energy installations on 13. Saab Seaeye Falcon ROV marine habitats. These sensor pods can monitor Figure [Photo Credit: Unknown. Power-Technology.com] marine life using sonar technology, sensors, and a stereo camera system. These pods are delivered to docking stations by Falcon, a ROV developed by Saab Seaeye (Figure 13). The pods are a key piece of technology for the future of monitoring the environmental impact of installations that form artificial reefs, including oil/gas rigs and tidal energy systems5. The growth of ROV technology has resulted in a number of advancements in a variety of fields. From monitoring marine life to maintaining earthquake-sensing equipment, ROVs clearly play a necessary role in many real-world scenarios. Sources: 1. “AUV ENGINEERING: ROVs Giving Way to AUVs for Some Deepwater Work.” Offshore Magazine, 1 Mar. 2001, www. offshore-mag.com/articles/print/volume-61/issue-3/news/auv-engineering-rovs-giving-way-to-auvs-for-some-deepwaterwork.html. 2. “Earthquakes, Pyrosomes, Robots, and Big Seas.” Ocean Networks, www.oceannetworks.ca/earthquakes-pyrosomesrobots-and-big-seas-0. 3. Huber, Mark. “Diving Robots Could Recover Air France 447’s Black Box.” Popular Mechanics, Popular Mechanics, 14 Nov. 2017, www.popularmechanics.com/technology/robots/a4339/4320244/. 4. Murphy, Robin R, et al. “Use of Remotely Operated Marine Vehicles at Minamisanriku and Rikuzentakata Japan for Disaster Recovery - IEEE Conference Publication.” IEEE Explore, Wiley-IEEE Press, 5 Nov. 2011, ieeexplore.ieee.org/ document/6106798/?reload=true. 5. “ROVs in Use for Renewables - 27/08/2015.” Hydro International, 27 Aug. 2015, www.hydro-international.com/content/ article/rovs-in-use-for-renewables.
ROV Safety Features
On-Board ROV Sensors Humidity and Temperature Sensors for Critical Systems Monitoring
LED Status Lights Quickly Determine ROV Status with RGB Status Lights
One Click On and Off Ensure Deck Crew Safety with Simple Shutdown of the ROV
ACKNOWLEDGEMENTS MATE Center and Marine Techology Society - For sponsoring this year’s competition TAP Plastics - Donation of stock plastic Solidworks - Donation of Solidworks 3D Software MacArtney Underwater Robotics - Reduced price on Subconn Connectors
JESUIT R
ABSTRACT
Figure 1. Rovotics team. [Photo Credit: Jesuit Robotics]
COMPANY INFORMATION Grade 9 - Andrew Chin - Electronics Grade 9 - Avery Gonsalves - Electronics
Grade 11 - Hayden Kaufman Electronics Lead Grade 11 - Adam Graham - Software
Grade 9 - Luke Rosellini - Mechanical
Grade 11 - Daniel Brennan Manufacturing
Grade 9 - Joe Watanabe - Mechanical
Grade 11 - Austin Law - CTO
Grade 10 - Aidan French - Software
Grade 12 - Sam Paragary - CEO
Grade 10 - Jaiveer Gahunia - Software
Grade 12 - Noah Pettinato - Software
Grade 10 - Michael Equi – R&D Lead
Grade 12 - Drake Charamuga – Manufacturing
Grade 10 - Caelin Sutch - Media Lead/Software Grade 11 - James Whitcomb-Weston Manufacturing Lead Grade 11 - James Monroe - Mechanical
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COMPETITION THEME
Rovotics is an engineering company specializing in the design, manufacture, and operation of underwater Remotely Operated Vehicles (ROVs). ROVs are tethered, unmanned, highlymaneuverable 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 (Figure 1). For the past twelve years, Rovotics has successfully manufactured ROVs tailored to complete specific tasks, including scientific research and oil field maintenance in the Arctic in 2015, exploration of Jupiter’s moon and the Gulf of Mexico in 2016, and maintenance in the Port of Long Beach in 2017. This year, Rovotics presents Mako, our most versatile ROV that is optimized to efficiently complete tasks in the Pacific Northwest. Mako is fully equipped with specialized tools to locate, identify, and retrieve the wreckage of an aircraft, service an undersea earthquake-monitoring platform, as well as install a tidal turbine and a sensor array. These tools allow the ROV to identify ID numbers on aircraft parts, latch a tidal turbine securely, inflate and release lift bags, level an undersea earthquake-monitoring platform, and utilize software that calculates depth and distances. Rovotics’ design process included whiteboard drawings, prototypes, 3D models, and extensive component-level and in-water testing. We manufactured the vast majority of Mako’s components in-house with a mix of conventional shop equipment and advanced processes using a Computer Numerical Control (CNC) mill, 3D printers, and custom circuit board assembly.
Grade 9 - Alden Parker - Software
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Grade 12 - Risheek Pingili - Software Lead Jay Isaacs - Head Coach Steve Kiyama - Assistant Coach
COMPANY EVALUATION/ MARKET ASSESSMENT Rovotics’ greatest strengths are the combined use of Computer Aided Design (CAD), structured project management, and pre-production independent component testing (Figure 2), 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 carry forward corporate memory, enabling us to build on past experience. Mako’s greatest strengths are its lightweight body and high thrust-to-weight ratio, allowing it to move swiftly and precisely without a loss in maneuverability. The modularity of its frame, electronics, and software platforms make it readily serviceable. It also benefits from customdesigned electronics and software, which enable Mako’s agility and responsive controls. One of Rovotics’ measures of success for Mako was the improvement of our electronics module, a previous year’s challenge, by making it smaller, more serviceable, and more capable. Although the goal was to create a compact and capable electronics system, the previous year’s circuit board development process caused significant reliability and assembly problems. However, these problems were overcome this year with refinements to the electronics development process. One area of needed improvement is in our Research and Development (R&D) process. Conflicts between multiple R&D project deadlines resulted in the need for significant changes that required frequent redirection of time and manpower, causing many of those projects to fall short of their final platform. This inefficient use of time hindered further development of a robust ROV platform. Next year the R&D department will allot time for projects differently and ensure that ambitious projects with strong interdepartmental dependencies are closely watched, thereby avoiding conflicts and the overstretching of manpower. The most rewarding parts of our experience have been the invaluable skills and knowledge gained through the numerous challenges faced while qualifying and preparing for the MATE Figure 2. Rovotics independent component testing. [Photo Credit: Jesuit Robotics] International Competition.
From fields of renewable energy to historical research, ROVs perform a variety of difficult tasks in complex environments. Alongside ROVs, newly developed Autonomous Underwater Vehicles (AUVs) have recently begun to play a key role in a multitude of industries1. Earthquake research, aircraft and disaster recovery, tidal turbine construction, and marine habitat monitoring have been improved by the use of ROVs and AUVs. Earthquake monitoring is a complex task requiring a multitude of sensors and kilometers of fiber-optic cable that connect these sensors on the ocean floor (Figure 12). Accessing these sensors for repair can be a challenging task, even for ROVs. Over a kilometer below the surface is the Cascadia subduction zone, which harbors a variety of deep sea sensors and fiber-optic cables that connect these sensors. Every year, Ocean Networks Canada is responsible for servicing and upgrading these deep sea observation structures. Strong wind and waves make this task nearly impossible for normal ships, but an easy task for ROVs2. Along with being well adept at managing deep sea sensor arrays, ROVs have served an important role in downed flight investigations and recovery missions. When Air France Flight 447 crashed and plunged deep in the Atlantic Ocean, it was inaccessible by divers. Experts decided to use ROVs to recover its “black box”. ROV Nereus, from Woods Hole Oceanographic Institution, took on the task of recovering the black box from a depth of 6,000 meters and in a search zone of about 1.6 square kilometers. In this situation, the ROV took on a nearly impossible task Figure 12. Earthquake Monitoring Sensors on the ocean floor. with limited resources. However it was still [Photo credit: Unknown. OceanNetworks.Ca] far more likely that the black box could be retrieved, ultimately giving more information to flight investigators regarding the cause of the crash3. Natural disasters are often a socioeconomic issue. ROVs play an essential role in a government’s recovery process by ensuring that critical infrastructure is operating safely and efficiently. ROVs also assist with search and rescue in locations that human divers cannot reach or are too few in numbers to work effectively. For example, in Japan, ROVs were used in a fiveday period to inspect six disaster sites following the 2011 Tohoku earthquake and tsunami. The ROVs also searched for victims trapped underwater in marinas, bridge debris, and waterfront residential areas. ROVs were chosen because they are more readily-available and cost-effective to search and rescue teams than skilled divers4. Renewable energy sources, such as tidal turbines, are part of a rapidly growing industry with demand for ROVs. Often, the construction of renewable energy installations occurs in shallow waters with high currents and wave action where normal deep sea construction vessels cannot operate. For example, Saab Seaeye underwater vehicles are the perfect tool for construction and monitoring of installations in the renewable energy field5. University of Washington is using ROVs to deploy sensor pods that monitor the long-term effect of renewable energy installations on 13. Saab Seaeye Falcon ROV marine habitats. These sensor pods can monitor Figure [Photo Credit: Unknown. Power-Technology.com] marine life using sonar technology, sensors, and a stereo camera system. These pods are delivered to docking stations by Falcon, a ROV developed by Saab Seaeye (Figure 13). The pods are a key piece of technology for the future of monitoring the environmental impact of installations that form artificial reefs, including oil/gas rigs and tidal energy systems5. The growth of ROV technology has resulted in a number of advancements in a variety of fields. From monitoring marine life to maintaining earthquake-sensing equipment, ROVs clearly play a necessary role in many real-world scenarios. Sources: 1. “AUV ENGINEERING: ROVs Giving Way to AUVs for Some Deepwater Work.” Offshore Magazine, 1 Mar. 2001, www. offshore-mag.com/articles/print/volume-61/issue-3/news/auv-engineering-rovs-giving-way-to-auvs-for-some-deepwaterwork.html. 2. “Earthquakes, Pyrosomes, Robots, and Big Seas.” Ocean Networks, www.oceannetworks.ca/earthquakes-pyrosomesrobots-and-big-seas-0. 3. Huber, Mark. “Diving Robots Could Recover Air France 447’s Black Box.” Popular Mechanics, Popular Mechanics, 14 Nov. 2017, www.popularmechanics.com/technology/robots/a4339/4320244/. 4. Murphy, Robin R, et al. “Use of Remotely Operated Marine Vehicles at Minamisanriku and Rikuzentakata Japan for Disaster Recovery - IEEE Conference Publication.” IEEE Explore, Wiley-IEEE Press, 5 Nov. 2011, ieeexplore.ieee.org/ document/6106798/?reload=true. 5. “ROVs in Use for Renewables - 27/08/2015.” Hydro International, 27 Aug. 2015, www.hydro-international.com/content/ article/rovs-in-use-for-renewables.
ROV Safety Features
On-Board ROV Sensors Humidity and Temperature Sensors for Critical Systems Monitoring
LED Status Lights Quickly Determine ROV Status with RGB Status Lights
One Click On and Off Ensure Deck Crew Safety with Simple Shutdown of the ROV
ACKNOWLEDGEMENTS MATE Center and Marine Techology Society - For sponsoring this year’s competition TAP Plastics - Donation of stock plastic Solidworks - Donation of Solidworks 3D Software MacArtney Underwater Robotics - Reduced price on Subconn Connectors
JESUIT HIGH SCHOOL, CARMICHAEL, CALIFORNIA, UNITED STATES DESIGN RATIONALE This year, Rovotics has developed a ROV designed to operate in the ocean environments of the Pacific Northwest. A rigid aluminum and clear polycarbonate structure, adjustable buoyancy, compact electronics, improved Topside Control Unit (TCU), as well as a feature-packed yet easy-to-use software interface make Mako our most versatile and advanced ROV yet (Figure 3). Optimized for modularity, Mako is designed to be lightweight, compact, and serviceable (Figure 4). Mako’s frame consists of two decks connected by four rigid aluminum struts. The top deck consists of two wings connected by four cradles and two outside sealing flanges, maximizing the usable internal volume of the electronics housing. The tool deck is mounted to the struts and is made of clear polycarbonate for a better view of tasks. Two powerful thrusters are mounted on the top deck, increasing speed and operational efficiency of the ROV. Four thrusters are attached to the four struts and can be adjusted to support a wide range of tool payloads. As a precaution, all thrusters include safety guards and labels. Mako’s buoyancy consists of the electronics housing, four adjustable tubes, and removable foam modules. The electronics housing is an integral part of the frame’s structure and also serves as the main buoyancy component of the ROV. The four adjustable buoyancy tubes consist of pistons that slide through the tubes, changing the water displacement. Additional foam modules are added and subtracted to vary the buoyancy. This system enables Mako to handle a varying tool load in different working environments. Mako’s Compact, Organized, and Removable Electronics (CORE) was designed to provide reliability and serviceability, include a wealth of safety features, and come in an incredibly compact package. This flexible electronics system allows for modular components that increase operational efficiency and decrease downtime, a critical factor in any successful ROV operation. Additionally, the compact electronics plays an important role in providing the flexibility required for the adjustable buoyancy system. A highly visible LED ring uses different colors to communicate Mako’s operational status to the deck crew, further enhancing ROV safety. Other safety features are also implemented in the power supply systems, such as overcurrent and short circuit protection. Our new TCU was designed for improved deck crew operations. The TCU is efficient and streamlined, housing all components in a portable Pelican case. A fully-customizable touch screen allows the TCU to accommodate additional functions through software updates rather than hardware changes. The TCU contains modular components to ensure field serviceability, and two large HD monitors display a live video feed and controls for the pilot and copilot. Our redesigned pilot and copilot interface was designed to display real time ROV status in an easy-to-read format. The flexible software design allows for easy expansion or removal of ROV functions. Software safety features are used to detect events such as ROV communication loss, power loss, or system crashes, and to ensure that the ROV always defaults to a safe operating mode by disabling all thrusters and tools. Furthermore, the pilot system and ROV software work in tandem, providing smart safety features that monitor unforeseen conditions and react accordingly.
Adjustable Buoyancy Mako’s adjustable buoyancy makes it easy to add or subtract from Mako’s existing tool load. Precise adjustment of buoyancy distribution is available from four adjustable buoyancy tubes and four sheets of layered buoyancy.
1
Handle Turner
An alignment cone allows the pilot to easily guide the multi-pronged tool onto and securely rotate an Ocean Bottom Seismometer’s (OBS) legs to level a unit.
Figure 3. Mako. [Photo Credit: Jesuit Robotics]
Figure 4. Mako’s frame. [Photo Credit: Jesuit Robotics]
Compact Size At 30cm x 58cm x 58cm, Mako is Rovotics’ most compact ROV yet due to decreased electronics size. This compact size and portability increases Mako’s versatility in a variety of situations and ability to maneuver precisely without losing ROV power.
2
3
Inductive Power Coupler
Powering an OBS is simplified by the coupler’s 9-volt battery that powers an inductive transmitter. Its conic design and electromagnetic release allows for easy alignment with the receiving port and deployment of the coupler.
1
4
5
2 1
Figure 5. Mako’s Handle Turner. [Photo Credit: Jesuit Robotics]
3
Acoustic Doppler Velocimeter (ADV)
In order to easily measure water velocity using an ADV, Mako includes a dedicated camera and a hydrodynamic housing that holds the ADV. This makes aligning the ROV to the mooring line and attaching the ADV a simple task.
Figure 7. ADV. [Photo Credit: Jesuit Robotics]
Figure 6. Inductive Power Coupler. [Photo Credit: Jesuit Robotics]
4
Lift Bags
Mako’s lift bags utilize a “harpoon”like design, making it easy to connect the pneumatically-inflated bags to the debris and engine. An acoustically-triggered release mechanism rotates a jackscrew to disengage the debris lift bag for reuse.
Figure 8. Lift bags. [Photo Credit: Jesuit Robotics]
Figure 11. Mako. [Photo Credits: Jesuit Robotics]
5
Gripper
A pneumatically-actuated piston with a return spring moves the jaw while custom cutouts adapt to and securely hold different objects. Two dedicated cameras give a wide-angle view of the tool and objective, simplifying the task for the pilot.
Figure 9. Gripper. [Photo Credit: Jesuit Robotics]
Software Tools Mako has three software tools, an OBS interfacing WiFi tool that allows Mako to read transmitted data from a platform, an aircraft identification tool that enables the ROV to locate and identify aircraft tail markings, and a tidal measurement tool that determines the optimum locations for tidal turbines. Additionally, simple measuring tools determine a placement location of a mooring line, and a depth sensor allows the ROV to find the placement height Figure 10. Software Tools of the ADV. [Photo Credit: Jesuit Robotics]