Construction

Calendar MP3

Week of February 3rd - 9th

• 4th – Create Calendar for Marking Period 3
• 5th – Make Measurements on the PVC Piping for all cut outs
• 6th – Cut PVC Pipes into four 12”, four 8”, and four 9” pipes/ Take Photographs
• 7th – Update Blog/ Fit the PVC Parts together without glue
• 8th – Make Necessary Adjustments to PVC Frame

Week of February 10th - 16th

• 11th – Contact Mentor and Check Integrity of PVC Structure
• 12th – Mount Propellers onto Structure/ Take Photographs
• 13th – Mount Video Cameras onto Structure/ Take Photographs
• 14th – Update Blog and Begin Helping Andrew With Robotic Arm Construction
• 15th – Help Andrew With Robotic Arm Construction

Week of February 17th - 23rd

• 18th – Presidents Day
• 19th – Contact Mentor/ Continue Robotic Arm Construction
• 20th – Continue Robotic Arm Construction/ Take Photographs
• 21st – Update Blog/ Continue Robotic Arm Construction
• 22nd – Finish Robotic Arm Construction

Week of February 24th - March 1st

• 25th – Contact Mentor/ Help Shay With Wiring
• 26th – Continue With Wiring
• 27th – Continue Wiring
• 28th – Update Blog/ Continue Wiring
• 29th – Continue With Wiring/ Take Photographs

Week of March 2nd - 8th

• 3rd – Contact Mentor/ Continue Wiring
• 4th – Finish Wiring
• 5th – Help Shaylynn With Controller Construction
• 6th – Update Blog/ Continue Controller Construction
• 7th – Continue Controller Construction/ Take Photographs

Week of March 9th - 15th

• 10th – Contact Mentor/ Continue Controller Construction
• 11th – Continue Controller Construction
• 12th – Finish Controller Construction
• 13th – Update Blog/ Begin Press Release
• 14th – Continue Press Release

Week of March 16th - 22nd

• 17th – Continue Press Release
• 18th – Continue Press Release/ Go To Monmouth Pool for Testing
• 19th – Finish Press Release
• 20th – Update Blog
• 21st – Spring Break

Week of March 23rd – 29th

• 24th – Spring Break
• 25th – Spring Break
• 26th – Spring Break
• 27th – Spring Break
• 28th – Spring Break

Week of March 30th - April 5th

• 31st – Contact Mentor/ Adjust ROV From Testing Results
• 1st – Prepare ROV for Testing Next Day
• 2nd – Make Outline/ Test ROV In Monmouth University Pool
• 3rd – Presentations
• 4th – Presentations/ Test ROV In Monmouth University Pool

Week of April 6th - 12th

• 7th – Presentations
• 8th – Test ROV In Monmouth University Pool
• 9th – Adjust ROV From Testing Results
• 10th – 3rd Marking Period Ends
• 11th – Begin 4th Marking Period Calendar
  

Math and Science Analysis

Math and Science Analysis
When designing an underwater ROV, some of the most vital components that go overlooked are the science, technological, and mathematical elements. Operating in underwater conditions requires a degree of understanding in the physics behind buoyancy. However, without mathematics, the physics formulas are useless. Technology always plays a huge role in the construction of an ROV as well. Advances in parts and materials are constantly being made, it is crucial to be up to date with the new technology provided.

Science
The main concern when designing the structure of an underwater ROV is buoyancy. An underwater ROV is useless if it only floats and is not able to submerge. At the same time, the ROV cannot simply just sink to the bottom like a rock. The Principle of Flotation says: “A floating object displaces a weight of fluid equal to its own weight.” For example, if a submarine displaces a weight of water greater than its own weight, it will rise. If the submarine displaces less, then it will submerge. This can be scene in figure 1.

(Figure 1)

There is no exact calculation to provide the buoyancy of a certain object. Density is the best way to figure out whether an item will float or sink. In order to calculate the density of an item, both the mass and volume of that item are required. Density is then calculated by dividing mass by volume. For example, the underwater video camera used on my ROV has a mass of 0.765 kg and a volume of 0.28 m³. Then using the density formula, the calculated density of the camera is 2.732 kg m³. The calculated density of water is 0.99 kg m³. This means that because the camera has a greater density than water, it will sink once placed into water.

Mathematics
For each of the items used in the construction of my underwater ROV, I calculated the Mass, Volume, and Density. The mass was found by weighing the object using a metric scale. I then calculated the volume by using (length)(width)(height) = volume for rectangular objects, and pi(r²)(length) = volume for cylindrical items. The measurements of mass and volume of the robotic arm and the control box were provided by my teammates. I then found the total mass for the ROV (6.629 kg) and the total volume (11.058 m³). I then used the formula for density, shown in figure 2, and divided the total mass by the total volume and got the density (0.599 kg m³). The actual density will vary slightly.

(figure2)

Robotic Arm
Mass = 0.906 kg
Volume = 2.556 m³
Density = 0.3544 kg m³

Camera
Mass = 0.765 kg
Volume = 0.28 m³
Density = 2.732 kg m³

Propeller
Mass = 0.355 grams
Volume = 0.897 m³ – 0.754 m³ = 0.143 m³
0.143 m³ + 0.183 m³ = 0.326 m³
Density = 1.09 kg m

Control Box
Mass = 1.359 kg
Volume = 5.486 m³
Density = 0.2477 kg m³

12” PVC Pipe
Mass = 0.102 kg
Volume = 0.135 m³ – 0.06 m³= 0.075 m³
Density = 1.36 kg m³

8” PVC Pipe
Mass = 0.068 kg
Volume = 0.09 m³– 0.043 m = 0.047 m³
Density = 1.44 kg m³

9” PVC Pipe
Mass = 0.0765 kg
Volume = 0.101 m³ – 0.045 m³ = 0.056 m³
Density = 1.366 kg m³

PVC Ell
Mass = 0.02125 kg
Volume = 0.025 m³ - 0.014 m = 0.011 m³ (2) = 0.022 m³
Density = 0.9659 kg m³

PVC Tee
Mass = 0.032 kg
Volume = 0.06 m³ - 0.034 m³ = 0.026 m³
0.015 m³ – 0.008 m³ = 0.007 m³ + 0.026 m³ = 0.033 m³
Density = 0.9696 kg m³

Total Mass = 6.629 kilograms




Total Volume = 11.058 m³

Density = (6.629 kg) / (11.058 m³) = 0.599 kg m³



Technology
In order to design the underwater ROV, I acquired the aid of a program known as ProDESKTOP. This program allowed me to produce accurate drawing of my underwater ROV design. The drawing of the final solution can be scene in Figure 3. Another technological advanced that will be used on the ROV are the underwater video cameras. These will provide a live video feed of what the ROV is seeing underwater so that the team will be able to efficiently operate without the need to observe from the surface. The propellers are another technological advancement that allows the ROV to maneuver underwater with DC power. These propellers can be scene in Figure 3.

(Figure 3)

Buoyancy is a huge factor to consider for underwater ROVs and having the right math and science to accurately achieve buoyancy is vital. The technological advances are also crucial for underwater ROVs. In conclusion, the mathematical, technological and science components play a large role in the design, construction, and function of the underwater ROV.

Supply List, Material List, Part List

Orthographic

exploded iso

Plan of Procedures

1.) Cut ¾” PVC piping into four 12” long pieces, four 9” long pieces, and four 8” long pieces

2.) Insert one 12” PVC pipe and one 8” PVC pipe into each 90 degree PVC elbow. There should be four elbows with an 8” and 12” pipe in each; similar to the item in the picture below.

3.) Now position the Tee connectors onto the 12” PVC pipe. Two should go onto each 12” PVC pipe, in ¾” from each end of the pipe. This can be scene in the figure below

4.) Now use the other four 90 degree elbows to connect these four pieces together. This can be scene in the figure below. There should now be two of these parts complete

5.) Next insert a 9” PVC pipe into each of the openings on all eight Tee connectors. This should connect the two parts you have and finish the structure.

6.) Now, connect one propeller to the left, upper 12” inch PVC pipe using screws. Make sure that the propeller is facing up and away from the structure. Do the same for the upper, right 12” PVC pipe. This can be scene in the image below.

7.) Next, connect a propeller to outside of the left, rearward 8” PVC pipe. Then connect another propeller to the outside of the right, rearward 8” PVC pipe. This can be seen in the image below.
8.) Now, the frame and propulsion should be completely finished. It is now ready to have the robotic arm and tether attached to it.