ROV Presentation
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Transcript of ROV Presentation
![Page 1: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/1.jpg)
Jenny
December 1, 2014In Response to NASA BAA # NNH14ZDA001N
Development of ROV for Ross Ice Shelf Expedition
Sanjana BelaniCaleb IrvinRyden LewisEmily ThayerRyan Wilkie
neptune, inc©
![Page 2: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/2.jpg)
Objectives
● Design a Remotely Operated Vehicle to collect data beneath the Ross Ice Shelf in Antarctica
● Build a scale model of this ROV● Provide calculations for a full
scale model of the ROV● Turn Valve 180° http://www.destination360.com/antarctica/ross-ice-shelf
![Page 3: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/3.jpg)
Requirements
The ROV must:● not exceed a total system mass of 15.0 kg● not exceed the dimensions : 58cm x 40cm x 30cm ● be able to move in 6 directions of motion● Incorporate required components and meet design
requirements
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Design - Jenny
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Jenny
● Meets size requirements● Easily maneuverable in any direction● Average speed of .595 m/s● Neutrally buoyant● Capable of being scaled up to full scale
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Description
● Dimensions: 49 cm x 31 cm x 29 cm● PVC frame● Five buoys and two Gatorade bottles for
buoyancy● Zip ties secure components ● Camera on front, right side
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Design
31 cm
29 c
m
49 c
m
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Design
(Rear view)
Payload
![Page 9: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/9.jpg)
Design
(Top view)
Buoys
![Page 10: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/10.jpg)
Design
(Front view)
Bottles
Camera
![Page 11: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/11.jpg)
Design
(Rear view)
Thrusters
![Page 12: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/12.jpg)
Thruster Placement
● Located in rear corners● Allows pitch to be easily
changed● Tight turn radius● Each controlled
individually by switches or buttons
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Circuit Diagram
![Page 14: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/14.jpg)
Advantages
● Design allows for easy addition/removal of components
● Four rear facing thrusters maximize speed ● Inner frame securely protects payload ● Wide surface area to turn the valve
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Mass Budget
Component Mass (grams)
Payload <10,000.0
Frame 1464.5
Thrusters 944.7
Buoyancy 289.6
Total <13,291.5
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CalculationsOur ROV is neutrally buoyant so the force of buoyancy is equal to the weight of the ROV.
∑F = FB - FG
0 = FB - FG
FB = FG
FB = 130.38 N
FG= m×gFG= (13291.5g/1000g)(9.81m/s2)
FG= 130.38 N
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Calculations
DragD = T = 25.22 N
ThrustForward = 25.22 NBackwards = 8.19 N
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Calculations
Top SpeedForward Vtop speed =
√(T/(.5AROVCD⍴)
= 0.663 m/s
Reverse Vtop speed =
0.377 m/s
Max PowerForward Prequired=VT/ηoverall
= 66.88 W
Reverse Prequired = 12.35 W
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Calculations
Center of Gravity
XCG = 19.1225
YCG = 16.304
ZCG = 1.78
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Testing
● Temperature ≃ 20˚C● Density: 998 kg/m3 ● Achieved average velocity
of 0.595 m/s ● Neutrally Buoyant ● Stable
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Full Scale Environment
Fluid: Sea waterDensity:1028 kg/m3
Water temperature: -2.16˚CAdditional considerations: Sea currents, Increased pressure and buoyancy, Limited lighting
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Full Scale Materials
● Frame: High-Strength Steel
● Propellers: Stainless Steel
● Buoyancy: Syntactic Foam
● Power Source: Lithium-ion battery
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Full Scale Calculations
Full Scale Dimensions:λ = 2.5
Ls = 1.23 m
Ws = 0.78 m
Hs = 0.73 m
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Full Scale Calculations
Full Scale Top Speed:
Vs = Vm × λV
= 0.483 m/s
Full Scale Thrust:
TS= TM x λT = 86.12 N
Power:
Ps= Pmx λpower = 166.3 W
![Page 25: ROV Presentation](https://reader030.fdocuments.ec/reader030/viewer/2022020119/58aea05e1a28abd43a8b570b/html5/thumbnails/25.jpg)
Recommendations
● Housing for the camera● More secure protection for thrusters● More sophisticated controls
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Conclusion
● Model meets all requirement● Has a calculated speed of 0.663 m/s and a
recorded speed of 0.595 m/s● Highly maneuverable ● Compact design
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Questions?
neptune, inc©
Contact: [email protected]
image from: http://www.percyjacksonmovies.com/wp-content/gallery/logos/black.png
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Center of Gravity
XCG=((236.175*49)*4+10000*16.3)/(944.7+10000)
XCG = 19.1225
YCG=(212.5*7.75)+2(236.175*15.5)/(944.7+212.5+10000)
YCG = 0.804
(31/2) + YCG = 16.304
ZCG= (212.5*29)+(236.175*29*2)/(212.5+944.7+10000)
ZCG = 1.78