Plan of Procedures

Plan of Procedures:

The following document contains the information required to pass production of our ROV on to another person. The information conveyed in this document will allow this to be replicated just based on the information provided. The ROV I have designed will be made of PVC, partly sealed, partly not. The not sealed parts will be to allow water into the PVC and remove some buoyancy. The ROV must be able to fit through a 22” ring, and will have to be maneuverable to pick up rings on a stand, utilizing Ms. Dronne’s arm. As shown in the following pictures, the PVC will be connected in a 20” cube, with the propellers extending slightly beyond that. The corners will need to be 3-way in order to connect the whole cube. The bar in front is to connect the arm, which Ms. Dronne is creating. The propellers in back will be able to move the ROV forward and backward, while the propeller on the bottom will lift the ROV to adjust depth. Following the images will be instructions for creating the ROV.

3D drawings:

Parts:

Part Name	Quantity	Use
1.5” PVC (P1)	25’	Make cube
1.5” PVC Side Outlet 90 (P2)	8	Connect PVC
1.5” PVC 3-Way Connecter (P3)	4	Connect extra pieces for bottom propeller and arm
Propeller (P4)	3	Propel ROV
Clamp (P5)	3	Attach propeller to ROV
Ruler (T1)	N/A	Measure pieces
Hack Saw (T2)	N/A	Cut PVC

Procedure:

NOTE: Please refer to images along the way to make sure that each step is done correctly.

11. Purchase/acquire all above materials.

22. Cut PVC (P1) using the hacksaw (T2) to cut 9 19” pieces, which we will call C1.

33. Cut remaining PVC (P1) with the hacksaw (T2) to cut 8 8.5” pieces, which we will call C2.

44. Slide C2 into connecter (P3) on both ends, to all 4 P3’s.

55. On the inside opening of each P3, now place a PVC (C1) in and attach it to the opening of another P3. You should now have 2 parts that look like really wide “H”s.

66. Place one of the parts you have assembled in front of you vertically. Hold up a P2 so the there is one end facing down towards the newly assembled part, one end facing to the right, and one and facing forward. Place a C1 into the right opening of the P2. Now, take another P2. Hold it so that there is one opening down, one left, and one forward. Slide the other end of the C1 into the left opening of the P2.

77. Place the assembled P2 on top of each C2 so that the remaining openings of the P2 are facing inwards (along the edge of the ROV, no parts facing outwards).

88. Repeat the process on the underside of the C2.

99.   Place the second “H” style construction you made back in step 5 into the forward facing openings of the bottom P2s. On the top, slide a C1 into the forward facing openings.

110. Gather the remaining 4 P2s. Hold one up so that the openings face right, down, and forward. Place a C1 in the bottom opening and right opening. Take another P2, face its openings down, left, and forward. Place the left opening on the C1 extending from the first P2s right opening, and place another C1 in the P2s bottom opening. Place this piece to the side for a moment.

111. Take one of the unused P2s, orient it so that there are openings facing up, right, and forward. Place a C1 into the right opening only. Take the final P2, face it so that the openings face up, left, and forward, and slide the left opening onto the C1 connected to the other P2 used in this step.

112. Take the piece created in step 11 and connect the top openings to the C1s extending from the bottom of the pieces assembled in step 10. You should now have a square with a forward facing opening on each corner. Take these openings and slide them onto the PVC structure last used  in step 9.

113. Take the propellers, and attach them to the clamps. Place 2 of the clamps around the PVC in the middle of the back left and right C1s (refer to image). Tighten the clamps.

114. Take the last propeller and clamp it to the C1 running along the bottom of the ROV (see image). Tighten the clamp.

Log 9/30-10/4

9/30
Completed:

• Testing procedures

Working On:

• Communications with mentor
• Final solution thoughts with Kelly

10/2
Completed:

• Presented blog; received ideas

Working On:

• Tweaking ideas to fix issues (alternate solutions primarily)

10/4
Completed:

• Added final touches to testing procedures

Working On:

• Finalizing solution with new ideas in place
• Finishing alternate solution fixes

Testing Procedures

Testing Type: Exploratory
Testing Stage: Preliminary
State of Solution: Drawing
Condition of Testing Stage: Classroom
Tools and Equipment Required: Paper, Pencil, Ruler
Testing Procedures:
1. Draw alternate solutions
2. Bring to class for teachers
3. Assess functionality and usability

Alternate Solutions

Testing Type: Exploratory
Testing Stage: Secondary
State of Solution: Drawing
Condition of Testing Stage: Classroom
Tools and Equipment Required: Paper, Pencil, Ruler, Data Table
Testing Procedures:
1. Place all designs on a matrix
2. Rate designs in different categories
3. Decide best solution to move forward with

Testing Type: Exploratory
Testing Stage: Tertiary
State of Solution: Model
Condition of Testing Stage: Classroom
Tools and Equipment Required: Paper, Adhesive Agent (Tape)
Testing Procedures:
1. Measure all pieces to scale and cut out
2. Color code different parts
3. Assemble with adhesives and bring to class
4. Meet with teachers and discuss design
5. Redesign all necessary parts


Sea Perch ROV Model

Testing Type: Assessment
Testing Stage: Preliminary
State of Solution: Stationary, Assembled
Condition of Testing Stage: Wet
Tools and Equipment Required: Pool, PVC
Testing Procedures:
1. Acquire PVC and connectors
2. Assemble to desired shape and bring to testing area
3. Place in pool for 30 seconds
4. Remove and dry the outsides
5. Open and check for leaks into PVC

Testing Type: Assessment
Testing Stage: Secondary
State of Solution: On
Condition of Testing Stage: Dry
Tools and Equipment Required: Motor
Testing Procedures:
1. Acquire motor and cables
2. Connect to power source
3. Check motor to make sure the device is running properly

Testing Type: Assessment
Testing Stage: Tertiary
State of Solution: On
Condition of Testing Stage: Dry
Tools and Equipment Required: Motor, Switch
Testing Procedures:
1. Take working motor
2. Connect wires to switch
3. Activate switch and make sure that the motor runs correctly

Testing Type: Assessment
Testing Stage: Quaternary
State of Solution: On
Condition of Testing Stage: Wet
Tools and Equipment Required: Motor, Switch, Pool
Testing Procedures:
1. Connect switch to motor
2. Place motor in water
3. Turn on motor
4. Make sure the motor operates properly under water

Testing Type: Assessment
Testing Stage: Quinary
State of Solution: On
Condition of Testing Stage: Pool
Tools and Equipment Required: Motor, Switch, Pool, PVC
Testing Procedures:
1. Connect motor to PVC hull
2. Place hull into water
3. Turn on the motor with the switch
4. Check motors ability to move the hull successfully

Testing Type: Assessment
Testing Stage: Senary
State of Solution: On
Condition of Testing Stage: Wet
Tools and Equipment Required: ROV Hull, Arm, Pool
Testing Procedures:
1. Meet with partner with hull and arm
2. Attach arm to front piece
3. Place full structure into the pool
4. Turn on motor
5. Assess how the weight change in the front affects the hull's movement

Testing Type: Validation
Testing Stage: Preliminary
State of Solution: On, Fully Assembled
Condition of Testing Stage: Wet, With Obstacles/Ring Test
Tools and Equipment Required: Fully Assembled ROV, Pool, Obstacles, Rings, Ring Stands
Testing Procedures:
1. Place ROV in the water
2. Turn on motors
3. Guide ROV through the obstacle course
4. Pick up rings from first stand
5. Bring rings back over to other stand
6. Judge how well the ROV performed



Sample SeaPerch ROV 1

Log 9/23-9/27

9/23
Completed:

• Finished model

Working on:

• Testing procedures
• Meeting with partner and figuring out how the parts will interface

9/24
Completed:

• Met with Ms. Green and Mr. Cuttrell (teachers) and assessed idea

Working on:

• Refining idea and fixing parts that are not functional

9/27
Completed:

• Testing Procedures

Working on:

• Refining final solution
• Deciding how to make Ms. Dronne's arm and my hull fit together well

Final Solution Rationale/ Developmental Work

Design Matrix:
   

	Movement	Control	Simplicity	Cost	Total
Design 1	10	8	7	8	33
Design 2	7	5	4	2	20
Design 3	5	8	8	6	27
Design 4	2	4	5	5	16

Overall, the winner for best design is design number 1. For movement, this design is as efficient as can be. The two propellers on the back and one on bottom make for the easiest movement in all directions. The other designs all have flaws to the movement (such as design 4's poorly chosen front dome, or design 2's slowly changing ballast tanks). For ease of control, designs 1 and 3 are both at the top of the list. Design 2 has ballasts that could be difficult to handle when quick movements and changes in path are needed. Design 4 has a pivoting hang glider piece on top that would not be great for slight changes in depth. Designs 1 and 3 both have propellers that would easily make slight movements and quick drastic movements as well. For simplicity, design 3 has the best features. Design 3 has one large propeller that pivots for movement in all directions. One propeller leads to one controller, and that makes the ROV much easier to control via the remote. Design 1 is the next best option, with propellers on the back for forward and backward motion, and a central propeller on the bottom to control depth. The propellers can all be turned on and off separately to control motion as easily as possible. Design 4 has a hang glider attachment and domed front that complicate movements and make changing direction complicated when necessary. Also, an issue I did not realize at first is that having the hang glider on means that moving backwards would be far more difficult than usual. Although it is not a particularly simple and efficient design, the additional piece would also complicate movement in the backwards direction. Lastly, design 2 has ballast tanks which are not only difficult to control, but also much more difficult to attach to the ROV than the other methods of movement. On the cost side (which for us, is an important factor to evaluate), designs 1 has a great advantage. Design 1 has 3 simple propellers that are attached to the back and bottom of the ROV. Design 3 is the second most cost productive, with one large propeller that pivots, but that may prove to be more expensive than expected. Design 4 features multiple additions along with two of the three propellers included in design 1, and will not be worth the cost, seeing as that design is overall not the best anyway. Finally, design 2 is the most expensive of all. The ballast tanks on the ROV would also require pumps to fill or empty the tanks on command, and this design would be complicated and expensive to create.

After careful consideration, design 1 was chosen as the best option, but it needs some changes to be ready for final production. One important change I have decided on is a PVC bar through the center of the front of the ROV to allow Ms. Dronne to attach the arm centered on the front. Another change that will be put into place will be the exclusion of the foam flotation devices. I have recently learned that at certain depths, (around 6-8 feet) the air becomes too pressurized to stay within the foam, and the flotation devices then become useless. To avoid having wasted materials, I will not be including the foam. Other than those two changes, the design will remain the same. After careful consideration, I have found that with a few minor changes, design 1 will be the best option to move forward with. (See images below).

ROV CAD 3D Rendering

ROV CAD Orthographic

ROV CAD Exploded View

Log 9/16-9/20

9/16
Completed:

• Added background research
• Added design brief, specifications, and limits
• Added alternate solutions
• Added works cited

Working On:

• Finalizing background research, design brief, specifications, limits, and alternate solutions

9/17
Completed:

• Added final pictures to background research
• Updated works cited

Working On:

• Choosing final solution
• Will start model planning soon

9/19
Completed:

• Decided finalized idea

Working On:

• Deciding model material and size
• Will start producing model in the coming days

9/20
Completed:

• Added description to alternate solutions drawings
• Reformatted blog to separate works cited from informational posts

Alternate Solutions

Alternate Solutions

The project currently has 4 possible design outcomes.

Design 1 (top left corner) consists of two small propellers on the back and a lift propeller on the bottom to control depth at will. The cylinder on the top of the hull would be a lightweight foam that would offer some buoyancy to counteract the weight of the body.

Design 2 (top right corner) consists of one centered larger propeller on the back on a left and right pivoting connector to be able to control motion. The depth will be controlled by ballast tanks that fill with water to add weight or dumb water to become more buoyant.

Design 3 (bottom left corner) consists of one large fully pivoting propeller to control not only side-to-side motion, but depth as well. The foam floats could be added as needed to help maintain buoyancy.

Design 4 (bottom right corner) consists of two small propellers on the back (much like design 1) but for depth, there is a triangular piece that resembles a hang glider. The piece, when controlled by the remote, would point up or down and move the ROV. Another unique feature to this design is the rounded front piece. This would make for a more streamlined design that would have a much easier time rotating and moving through the water due to its lack of hard edges. This design piece could be applied to another design if necessary.