TRANSMITTAL Florida Institute of Technology Department of Marine and Environmental Systems OCE 491* TO: Dr. Stephen Wood Dept. of Marine and Environmental Systems Florida Institute of Technology 150 W. University Blvd. Melbourne, FL 32901 FROM: Senior Design: ROV Team, Slime Shark Department of Marine and Environmental Systems 150 W. University Blvd. Melbourne, FL 32901 RE: Final Report DATE SUBMITTED: July 23, 2008 Dr. Wood, Please review the attached Final Report for the ROV team. The ROV Team

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Florida Institute of Technology

Ocean Engineering Design 2008

OCE 491*

Slime Shark - Final Report

Presented by: The ROV Team

Kelley Pitts

Amy Pothier

Amanda Mackintosh

Michael Plasker

Jeffrey Pollard

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ACKNOWLEDGEMENTS We would like to thank: Dr. Wood for his advice, encouragement, understanding, and time in all the areas of building this project. He helped keep us going when we did not know if we could. Dr Swain and Melissa Tribou for their advice and sharing of knowledge of cleaning hulls using brushes Bill Bailey for his machining and mastercam expertise. His help allow for a tangible structure and not just some papers. His knowledge allowed for a higher quality product and his welding allowed for a truly water proof pressure vessel. Larry Buist for his electronics and software knowledge. Along with his time and support no matter the time of day. His commitment to helping our team really made this project work. Thaddeus Misilo for his programming and electronics knowledge and support, and checking up on us to make sure we did not need help; even at midnight. Without your help this project would not be possible.

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1.0 Executive Summary 8 2.0 Introduction 9

2.1 Motivation 9 2.2 Objectives 10 2.3 Time line 10 2.4 Organization 11

3.0 Background 13 3.1 Basic Theory 13 3.2 Historical 14

4.0 Procedures 18 4.1 Bollard Test 18

4.1.1 Thrust Moment Calculations 19 4.2 Pressure Vessel Testing 20

5.0 Customer Requirements 21 5.1 Brush Testing Requirement 21 5.2 Future Customer Requirements 22

6.0 Project Evolution 22 6.1 Manufacturing Process 24

7.0 Function Decomposition Structure 25 7.1 Aesthetic Shell 26 7.2 Engineering Specifications 27 7.3 Main Frame 27

7.3.1 Thrusters 28 7.4 Brush Cleaning Assembly 29

7.4.2 Shaft 30 7.4.3 Bearings 30 7.4.4 Frame 31

7.5 Pressure Vessel 31 7.6 Electronics 32 7.6.1 Topside Electronics 32

7.6.2 Bottom Side Electronics 38 7.6.3 Water Proof Connectors 41 7.6.4 Programming 42 7.7 Suction Attachment Device 42

8.0 Ethical Issues 43 8.1 EPA Compliance 43 8.2 Cavitation 43

9.0 Safety 44 10.0 Budget 46

10.1 Bill of Materials 46 11.0 Results 47 12.0 Conclusion 47

12.1 Recommendations 47 12.1.1 Addition of a Second Camera 47 12.1.2 EPA Compliance through a filtering system 48

TABLE OF CONTENTS

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12.1.3 Creation of other Head Units 48 12.1.4 Wireless Control 49 12.1.5 Autonomous Cleaning 49 12.1.6 Online Control 49 12.1.7 Cathodic Protection 50 12.1.8 Custom Brush 50 12.1.9 Fiberglass Shell 51 12.1.10 Pressure Vessel Front Flange 51

13.0 References 52 14.0 Appendices 53

A.1 Hand Calculations for Pressure Vessel 54 A.2 Seabotix Ad 55 A.3 Resume – Kelley Pitts 56 A.4 Resume – Amy Pothier 57 A.5 Resume – Amanda Mackintosh 58 A.6 Resume – Michael Plasker 59 A.7 Resume – Jeffrey Pollard 60 A.9 Basic Code Topside 62 A.10 Hour Charts Week 4 through End 66 A.11 Hour Chart from beginning 68

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LIST OF FIGURES

Figure 1 Task List 10 Figure 2 Task Completion Ghant Chart 11 Figure 3 Team Members 12 Figure 4 Pool System with Pump 15 Figure 5 Jet Sweep Pool Cleaning Device 15 Figure 6 VHC underwater Crawler 16 Figure 7 NovaRay ROV 17 Figure 8 bollard Thrust Test 19 Figure 9 Slime Shark Outer Case 26 Figure 10 Final ROV Design 27 Figure 11 Seabotix Thruster photo from Website 28 Figure 12 Seabotix Thruster Recieved 29 Figure 13 Bearing from Granger 31 Figure 14 Electronics’ Flowchart 32 Figure 15 Contorl Box 33 Figure 16 Joystick 33 Figure 17 Schematic topside Electronics 34 Figure 18 Topside Communication Population 35 Figure 19 Topside Communications Wiring 35 Figure 20 XBOB Video Overlay 36 Figure 21 AC to 12V DC Converter 37 Figure 22 AC to 300V DC Converter 37 Figure 23 Pressure Vessel Electronics Mounting 38 Figure 24 300V DC to 12V DC Converter 38 Figure 25 ROV Main Board Schematic 39 Figure 26 Bottom Side ROV Main Board 40 Figure 27 Camera 41 Figure 28 Compass Board 41 Figure 29 Pressure Transducer 41 Figure 30 Suction Attachment Device 42 Figure 31 Use of Safety Equipment 44

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LIST OF ABREVATIONS ABS Acrylonitrile / Butadiene / Styrene Terpolymer DMES Department of Marine and Environmental Systems EPA Environmental Protection Agency FIT Florida Institute of Technology LCD Liquid Crystal Display LED Light Emitting Diode MFP Marine Field Project MSDS Material Safety Data Sheet’ OSHA Occupational Safety and Health Administration PIC Programmable Interface Controller PVC Polyvinyl chloride PWM Pulse Width Modulation ROV Remotely Operated Vehicle TIG Tungsten Inert Gas (Welding) TMS Tether Management System VRAM Vortex Regenerative Air Movement (Vortex HC LLC)

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1.0 Executive Summary

The ROV team intends to design, create and implement an underwater vehicle that will

be able to clean and inspect hulls which have mild scum.

This would be considered a small ROV which is light and easy to carry. It will have a

removable head for cleaning hulls, with brushes like that of a vacuum cleaner for maximum

cleaning. This will allow for different brushes to be designed an attached for other uses. Also

attached to the main body will be a camera, to allow for hull inspection or underwater viewing,

such as a coral reef. There will be four thrusters, two vertical and two horizontal, for maximum

control of the ROV. A suction device will be used to provide attachment to the hulls. It will have

a control box with a screen for viewing of the camera’s video and a joy stick for easy control.

The control box will be attached to the ROV by a tether. Its maximum use depth will be 100ft.

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2.0 Introduction

An ROV is a very complex design with many factors that must work well together to be

effective. To accomplish this in a timely and proper manner, many plans must be created and

implemented. This report explains the time line that was followed, what has been completed, and

what needs to be done. The order of the report is as follows: the origin of ideas, reason for the

design, the methods to accomplish our tasks stated and what we have completed.

2.1 Motivation

This ROV has many potential uses and will be highly marketable once completed. It will

be able to clean boat hulls which reduce the bio-fouling on the sides. The need for a bio-fouling

removal system that is both effective and environmentally friendly is ever increasing. Many of

the traditional fouling release chemicals have been found to be considerably toxic, removing the

growth by killing it. Others have been shown to cause abnormalities in marine life. (TTCP)

The benefits of the removal of the bio-fouling are extensive. It will decrease the

turbulence due to a non smooth surface allowing for a more laminar flow along the boat hull.

This will reduce drag and therefore decrease fuel costs. For instance, “an effective antifouling

paint can produce fuel savings of at least 15% due to reduced drag compared to an untreated

hull.” (TTCP)

The ROV is equipped with a camera which will allow for hull inspection and reef

exploration. This will allow for necessary inspections to occur. Reefs and points of interest can

be viewed without the need for divers, potentially decreasing expenditures.

The Slime Shark team wanted to make something unique, a new idea that would be

useful and aesthetically pleasing. We decided to create a boat hull cleaning ROV with a spin to

it. Instead of the brushes mounted to the ROV it’s self and not removable easily, we decided to

make the brush unit modular.

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2.2 Objectives

So that the ROV will be completed within our time frame, smaller tasks have been

created. This in the most simple sense explains what the ROV team plans to do by the time of

completion at a date of July 23, 2008.

The Slime Shark team intends to accomplish the following tasks:

Design a ROV that will be able to clean boat hulls and return a visual feed

Build this ROV

And if time permits:

Test different brush types using its head assembly

2.3 Time line

Our timeline explains what is intended to be completed in what timeframe. Many things

that are to be completed are contingent on previous tasks being finished. The below tables

explain these tasks. The first chart provides specific dates and the second explains how these

dates interact with each other.

ID Task Name Duration Start Finish Predecessors Resource Names

1 Final Term Paper- Spring Edition 94 days Mon 1/14/08 Fri 4/25/082 Boat Cruise 27 days? Wed 6/4/08 Mon 6/30/083 Cruise Report 27 days? Wed 6/4/08 Mon 6/30/084 Electronic Boards 102 days? Mon 3/3/08 Thu 6/19/085 Pressure Housing Build 22 days? Fri 6/20/08 Fri 7/11/08 46 Machine Shop Training 52 days? Wed 4/9/08 Fri 5/30/087 Buying Parts 99 days? Mon 3/24/08 Mon 6/30/088 Slime Shark Spring Final Presentation 1 day Mon 4/21/08 Mon 4/21/089 Student Showcase- Spring 1 day Fri 4/4/08 Fri 4/4/08

10 Poster Student Showcase 5 days? Mon 3/31/08 Fri 4/4/0811 Preliminary Design Bill of Materials 24 days? Mon 1/28/08 Wed 2/20/0812 Final Term Paper- Summer Edition 73 days? Mon 5/12/08 Wed 7/23/0813 Summer Design Showcase 1 day? Wed 7/16/08 Wed 7/16/0814 Slime Shark Frame Build 22 days? Mon 6/9/08 Fri 7/11/08 6,715 Class 71 days Mon 5/12/08 Mon 7/21/0827 Fiberglass Shark Shell 15 days? Mon 6/30/08 Mon 7/14/0828 Front Brush Design 22 days? Mon 6/16/08 Mon 7/7/0829 Brush Decision 15 days? Mon 6/16/08 Mon 6/30/0830 Design Brush Mount 22 days? Mon 6/16/08 Mon 7/7/0831 Brush Motor 5 days? Mon 6/30/08 Fri 7/4/0832 V-Ram from Dr. Swain 1 day? Mon 4/21/08 Mon 4/21/0833 SAD (Suction Attachment Device) 71 days? Mon 4/21/08 Mon 6/30/08 3234 Order PIC 1 day? Mon 6/23/08 Mon 6/23/08 435 Populate Electronics Boards 1 day? Tue 7/1/08 Tue 7/1/08 4,3436 Power 19 days? Mon 6/23/08 Fri 7/11/08

Figure 1 Task List

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ID

12

3456789

1011

12131415272829303132

33343536

1/13 1/27 2/10 2/24 3/9 3/23 4/6 4/20 5/4 5/18 6/1 6/15 6/29 7/13 7/27 8/10 8/24January 1 February 1 March 1 April 1 May 1 June 1 July 1 August 1

Figure 2 Task Completion Ghant Chart

2.4 Organization

The Slime Shark ROV team has a unique organizational system that has allowed for its

members to learn more about all the major areas necessary to build a ROV. There is not a leader

for any particular section and not just one person responsible. Instead each team member takes

responsibility of a particular task that needs to be accomplished and shares with the team how the

process is being completed. If a team mate would like to learn more about a particular subject

area they ask another team mate with experience. For the most part, purchases are completed

together, and machine shop training for the four uncertified team members. Resumes of the team

members can be seen in the appendix.

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Figure 3 Team Members

(Team members left to right)

Amy Pothier, Amanda Mackintosh, Kelley Pitts, Jeffrey Pollard, Michael Plasker

The Slime Shark ROV team members include:

Kelley Pitts, Senior – Ocean Engineering

Amy Poither, Senior – Ocean Engineering

Amanda Mackintosh, Junior – Ocean Engineering

Michael Plasker, Junior – Ocean Engineering

Jeffrey Pollard, Sophomore – Ocean Engineering

The reason this organizational method of the team works is the honesty and the constant

asking of questions. Each member brings something different to the table and is willing to share

their knowledge. Amy Pothier has hands on knowledge about the best places to buy materials

such as aluminum and has shared this knowledge with the team. Kelley Pitts wanted to learn

more about Pro E and asked Jeffrey Pollard who is now teaching her how to use the program.

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3.0 Background

There are many perspectives of background. This section expresses 2 points; the first is a

basic theory which explains the components of what is required of a ROV. The second is the

historical area, or what could be called the research we have completed to develop the Slime

Shark’s current design.

3.1 Basic Theory

The Slime Shark ROV theory is to build and test an ROV that is able to clean and inspect

hulls.

Since the Slime Shark is an ROV, it must be tethered to a ship above. The team is

utilizing last year’s tether. The data and power will be run through the tether between the ship

and the ROV; however, a future goal of the Slime Shark to become autonomous so the tether

would no longer be needed. It will be connected to the control box from last year’s project as

well. The box will be able to be interchangeable between the two ROV’s.

With every ROV a tether management system is required. One of the most successful

tether systems is the TMS from Harbor Branch. They started using their TMS in 1995 and it

included distinctive features. A main feature was “its small size ( 6 ft dia. X 64.5’H), its light

weight (1450 in air), its low cost, its unique cable friendly sheave less cable handing design, and

the fact that power and control of the TMS function only require three wires, 300 lb. line pull”

(Tether Management System 1). The tether is stored in a drum, so no guides are needed. The

electro hydraulic uses a “phase rotation of the electric motor” which allows the motor only to be

one while bring in/out the tether (Tether Management System 2). It rotates clockwise and

counterclockwise. According to the specification sheet the drum and frame are made of

Aluminum T6- 6061, the same material that the Slime Shark is made from. If the ROV was

rated for larger depths than 100 feet, this would be a great tether system; however, since the

ROV is designed for a relatively shallow depth, it is an impractical tether system to implement

because it requires the tether, motors, and storage drum.

Most ROV’s are equipped with a frame; this ROV will be surrounded by an aluminum

frame. The frame is used for protection which will help provide durability. In addition the metal

frame will allow us to make the modular head components, which easily can be attached or

removed. The goal of the ROV is to have the different components attached to the frame so that

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they can be swapped in and out of the ROV. This is usually seen in larger vehicles. Our

research has not shown in the small compact size.

The pressure housing is aluminum T6 6061 cylinder, with flanges on each end, and on

the front a camera dome. To find the maximum depth allowed, use the hoop stress equation

along with testing the housing on an ocean dive. See appendix for hand calculations.

Hoop Stress Equation:σ = (Pr)/t

σ = hoop stress

P= Pressure

r = radius

t = thickness

The electronics box, or black box, will be control center of the ROV. The Slime Shark

will be controlled using a joy stick, along with on and off switch for the 4 thrusters. This will

allow us a complete range of motion on all axes. The self-made VRAM will also have an on-off

control. The brush motor for the turning rate of the brush in the head will be on a variable

switch. All coding for the box will be completed in C. Another recommendation is to then have

the box rewritten in LabVIEW using Amanda Mackintosh’s experience with this computer

program.

3.2 Historical

In order to effectively design the brush and motor head for the ROV, several pool

cleaners were examined. There are several different types of pool cleaner designs, which vary

the method by which they remove debris. The first type of cleaner uses vibrating brushes or

rubber blades to loosen the debris, which is then removed by a pump. These units are then

moved around by oscillators inside the cleaner. The other brush configuration for this type of

cleaner is for the brushes to remain stationary, and to just use the suction of the pool’s system to

remove the debris (Pentair). An example of this can be seen below.

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Figure 4 Pool System with Pump

The second type of cleaner uses water jets to remove the debris, which it then removes

from the pool by a pump (Ledford). This design was considered for the ROV, but was rejected

due to complications.

The third type of cleaner, which was adapted for the Slime Shark, is an independent

cleaner that uses a brush oriented about a horizontal axis. The cleaner uses treads to move along

the surface of the pool, uses brushless motors and is fully automated (Pool). The Slime Shark

will have a brush of similar design, however is controlled, instead of operating independently.

Figure 5 Jet Sweep Pool Cleaning Device

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There are several different types of ROVs that are currently in existence whose models

were considered and modified. The first ROV is the VHC Underwater Crawler produced by

Roper Resources. This vehicle has the benefit of being small, and the ability to travel on any

surface, but it must have a surface to attach to. The ability to attach to a surface is controlled by

a VRAM, which generates “over 30 pounds of attraction from a single unit” (Roper). The VHC

uses wheels as its primary mobility unit, and has a reinforced tether so that the unit can be raised

and lowered by the tether (Roper). The Slime Shark will be using these features, however the

differences are the size, because the Slime Shark is not only an inspection vehicle, but also a

cleaner. The wheels, will not provide the movement; the movement will be provided by the

thrusters.

Another type of ROV that is commonly used is from Seabotix and their ad can be seen in

the appendix.

Figure 6 VHC underwater Crawler

Another type of survey ROV currently available is the Nova Ray models. Most of the

models generally come equipped with sonar systems as well as cameras. These ROVs are

unique in that their hull is an articulate wing, which has been modified for efficiency (Nova

Ray). The purpose of this is to help “counteract the lifting force of the umbilical (also described

at the tether or cable). Therefore, the speed of the boat (or other vessel) or current has little effect

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on the operational stability of the Nova Ray®. The wings increase cable use efficiency and

reduce the amount of cable necessary to operate or tow at depth” (Nova Ray). The Slime Shark

uses a similar idea, and also uses a design for its hull from nature, as it is based off of a

hammerhead shark. The Slime Shark will differ in that it will not be made to tow as the Nova

Ray models are, but will only be free swimming. The Slime Shark will be equipped with a color

camera as well as lights, but it will not be utilizing the sonar systems that the Nova Ray models

have.

Figure 7 NovaRay ROV

According to ROV Network, there is currently no consistent company that has an ROV

strictly for cleaning. There are companies that create brushes that can both be used by divers or

ROVs, but have to be modified for either. This situation creates a problem in that the brushes

cannot be designed specifically for each ROV, as they constantly change, as it needs to still be

human operable. The brushes are operated by a motor using either hydraulics or water, and the

brushes are made of wire. The network also states that most ROVs that are outfitted with these

cleaning heads are able to clean more than just boats. They also clean harbor walls, bridges and

other offshore structures, but this is all dependent upon the visibility. It also reports that the

cleaning systems can clean approximately 200 to 500 meters an hour (Ward). The benefit of the

Slime Shark is that it will have a brush that is explicitly fitted for it, which will maximize

efficiency. It should allow for the Slime Shark to maintain a current cleaning speed; however it

will be scaled down, due to the fact that most ROVs used for these cleaning jobs are

considerably larger. The motor for the brush on the Slime Shark will be run by a DC brush

motor, and the brush will made of nylon bristles. An additional feature of the Slime Shark is that

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while the brush will be fitted for this model, it will also be detachable, so that in the future, other

equipment may be utilized.

4.0 Procedures

Individual components were tested before the build was finished so any problems that

arise could easily be fixed. This ensures capability of the product created and determines overall

quality.

4.1 Bollard Test

The idea of the bollard thrust test came from the Swimmy Thang webblog. The

experiment given in “Testing the Thrust of Your Motors” was used with little modifications to

suit the Slime Shark’s needs. The Slime Shark version of the bollard test is described in the

following paragraph.

A pivot was made with ¾” and ½” PVC pipe connecting at the center with a cross piece.

On the ¾” piece, one end was out of the water with a fish scale attached; the other end was

placed in the water with a ‘T’ piece. The bilge pump was connected to the ‘T’ with two hose

clamps. The ½” pipe was placed through the cross and rested on the edges of the pool. The

bilge pump was then connected to a 12V battery and turned on. The two ends that rested on the

sides of the pool were held down, while the fish scale was held in place so a reading could be

obtained. This set up is seen below.

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Figure 8 bollard Thrust Test

Once thrust values were obtained, the unequal lever arms of the PVC cross had to be accounted

for using a moment calculation. The actual motor thrust is 3.5 lb in the forward direction and

.875 lb in reverse. This does not account for the flex in the PVC pipe used as arms or the extra

thrust created by placing the prop within the duct, so the actual thrust would be measurably

higher.

4.1.1 Thrust Moment Calculations

Thrust Moment Calculations

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F(t)= Actual Thrust F(s) = Scale Reading

F(s)= 4 lb forward direction F(s)= 1 lb reverse direction

Forward Direction: ΣM(o)= F(s)*distance- F(t)*distance ΣM(o)= F(s)*35 inch- F(t)*45 inches 0 = F(s)*35 inch- F(t)*45 inches F(t)= 4 lb * 35inch/40inch F(t)= 3.5 lb Reverse Direction: ΣM(o)= F(s)*distance- F(t)*distance ΣM(o)= F(s)*35 inch- F(t)*45 inches 0 = F(s)*35 inch- F(t)*45 inches F(t)= 1 lb* 35inch/40inch F(t)= .875 lb 4.2 Pressure Vessel Testing

When the pressure housing was sealed, it was first tested in a pool to verify no leaks were

present. The initial test was to place it on the pool stairs to check for large leaks. While it was

submersed, no bubbles appeared at the surface. After five to ten minutes, the pressure housing

was removed from the water and placed upside down to see if any water would pool in the clear

camera dome. No water appeard in the camera dome. The housing was then inserted into eight

foot of water for 30 – 40 minutes. When the pressure housing was removed from the pool, it was

dried thoroughly, and then opened on the dome side so the lip would stop any trapped water from

entering the housing and giving invalid results. The bolts were taken off and the housing

F(t) F(s)

35” 40”

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opened, and inspected thoroughly for water and dampness. No evidence of water inside the

housing was found. These results prove the pressure housing is water-proof, however additional

testing at deeper depths should be considered. Further testing should be competed once the

water proof connectors are attached.

5.0 Customer Requirements

Although a true customer has not surfaced, the Slime Shark once completed will be a

highly marketable tool to clean boat hulls and save the purchaser large amounts of money from

fuel costs and diver cleanings. Therefore, at this time we have two main requirements; one for

the use of testing different types of brushes and comparing its cleaning ability to that of the Bug,

another cleaning ROV; the other from the prospective that the Slime Shark will be marketed in

the future.

5.1 Brush Testing Requirement

The Slime Shark once completed may be used to test a variety of brush types and

possible cleaning methods. This idea was brought to the Slime Shark design team early in design

by Dr. Swain from the Department of Marine and Environmental Systems at the Florida Institute

of Technology. Dr. Swain is currently working with a company that is designing and testing an

ROV with the intent to clean the bottom of hulls using a brush design call the Hull Bug. Not

much is known about this ROV as it is still in its design phase, so much is kept private. Dr.

Swain spoke with us with the intentions for our team to test many different brush types to find

which would have the most optimal cleaning. To the Slime Shark team’s knowledge the Hull

Bug has not made a decision on its brush assembly. The Slime Shark brush has a horizontal axis

of rotation. After a presentation by Dr. Swain on the Hull Bug it was decided that the Slime

Shark would be used to compare results. In return, we would have a brush assembly donated to

the Slime Shark and the possibility to use a VRAM system. The VRAM system would allow the

Slime Shark to efficiently attach itself to a boat hull with a magnetic fingerprint or damage to the

boat hull. However, in early spring the VRAM was discontinued, causing the SAD to be

developed.

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5.2 Future Customer Requirements

At this time a purchaser of the Slime Shark has not been identified. A future customer

may have the requirements of a small sized ROV with a horizontal axis brush cleaning system

with a removable head unit.

6.0 Project Evolution

From the beginning, the Slime Shark has undergone a variety of design changes. The

first problem that was faced with this ROV was how the cleaning heads were to be oriented.

One idea was to have several brushes that spun about a vertical axis. This design is already in

use and is proven to be effective. The problem with this design was the difficulty designing a

brush orientation that would prevent the angular momentum from the brushes from turning the

cleaner. The second design that was eventually adopted was to have a long brush spin about a

horizontal axis, much as a vacuum cleaner would. This design was favored due to the simplicity

of the design, as well as the smaller chance of the brush getting clogged by clinging slime, as the

spinning will produce enough force to expel it from the bristles. Another reason that this design

was favored was that in order for this machine to EPA compliant, there would need to be a way

to contain the expelled scum, and this would allow for there to be a containment unit around the

head without much difficulty. The brush would be attached to the front of the ROV and the body

would contain all of the necessary parts for functionality. The third design that was conceived

was using a stream of pressurized water, much like a power washer, to remove the scum. This

idea was also EPA compliant, but ultimately rejected as well due to the complexity of the design.

After the horizontal axis brush was decided on, the brush also underwent several changes.

The initial design was to use a brush similar to those in pool cleaners. The bristles would be

arranged in a spiral so that the debris would be moved towards the center of the head so that it

could be suctioned out through a tube to the containment device. The Slime Shark will not

currently be equipped with an EPA compliant unit, but will be designed to be easily upgradeable.

This design for the brush was changed, due to the provision of Dr. Geoffrey Swain, as he

provided the ROV with a brush. It was stated that the brush design needed to have a horizontal

axis of 18 inches. This design of brush has the bristles oriented in a diagonal pattern, which

covers the entire brush. It will rotate on a steel shaft in an Uhmw-Pe Bearings block bearing,

which will be attached to the head, and will be able to be exchanged for other brushes.

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Unfortunately the brush from Dr. Swain was unable to be acquired, and due to budget constraints

a generic brush had to be purchased that was similar to the one that was going to be received.

The only exception is that the rod that the brush rotated on was one inch in diameter instead of a

half inch.

The head is can be removed from the ROV and exchanged for other heads. Additional

heads will not be implemented in this project. The heads can be changed using square tubing

and pins to attach it to the body.

The body frame and its contents have undergone the most of the design changes for this

project. The original design for the Slime Shark was to be a rectangular frame, made from T6

6061 aluminum channel bar. This design had to be expanded because all of the components

could not be included with the frame and provide the pilot with the needed control over the

Slime Shark. The proposed solution was to add a second tier, also made of channel bar. The

tiers were to be connected using angle bar and supported by channel bar as cross pieces. This

design was then changed in part to the location of a cheaper aluminum flat stock, which replace

the angle bars, and the channel bar cross pieces. However, due to the lack of stability provided

by the flat stock, it was decided that the channel would serve better to support the tiers, and it

was also more aesthetically pleasing. The channel that was retained in the design was also

expanded from 2”x 1” to 2 ½”x 1 ½” because of the availability of the material.

This frame contains a pressure housing, with a 6” nominal diameter, and a length of one

foot. The frame will also have two Seabotix motors on the port and starboard sides, attached by

square tubing to the bottom tier. These motors will provide the thrust and turning needed. Two

additional Seabotix motors will also be utilized to allow for ascending and descending. In order

for the Slime Shark to effectively attach to the surface of the ships to clean them, the use of live

well pumps was considered to provide enough downward thrust the keep the ROV in place. The

discovery of a device called the VRAM changed this design, and was to be provided by Dr.

Swain. This device is more efficient and smaller. The VRAM, however, is no longer available,

so the design once again had to be modified. The replacement was the Suction Attachment

Device, or SAD. The SAD consists of a ducted fan powered by a bilge pump attached to the

frame. Due to the measurements of the frame, the SAD had to be placed inside the frame which

may weaken the attraction power, but the current design allows for a skirt to be added increased

suction. Two cameras were initially going to be attached to the frame, one in the pressure

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housing and another in its own housing. The design was modified and the second camera

removed because of limited funds and the complexity of the design. The camera in the main

pressure housing will be retained though.

The circuitry contained in the housing has also undergone some changes as well.

Originally, there was a ROV from where the circuitry was going to be provided. However this

was changed as the other ROV is going to be kept in commission, and new parts have to be

obtained. The circuit boards were designed to support six motors, which required three PICs to

allow for six channels of pulse width modulation. The water-proof connectors to allow for the

wires to enter and exit the pressure vessel were provided from the previous ROV as well as some

that were provided by Dr. Wood. The box that will house the controls on the surface was

assimilated from last year as well. A Polaroid LCD screen and video overlay board were already

installed, but the controls had to be constructed from scratch. The control panel was created

from ABS and contains two joysticks, two dial knobs, two rocker switches as well as the tether

connection and a power supply. The topside control also has a converter from AC-120V to

twelve volts DC to power the circuitry in the box, and an AC-120V to 300 volt DC converter to

send down the tether.

The final aspect of this design is the hull of the ROV. As the name Slime Shark suggests,

the machine will be in the shape of a shark, specifically a hammerhead. This design was chosen

because the wide head allowed an ideal setup for the brush, and the body provided adequate

space for the other components. The hammerhead shark also has good hydrodynamics, which is

ideal for the ROV to operate. However, due to the complexity of the shell, it had to be

postponed for a later project, as the other aspects of the ROV demanded more time.

6.1 Manufacturing Process The manufacturing process for the Slime Shark was different then the most common

construction process. All of the Slime Shark components were first designed then machined.

Once each part was individually machined, the components were then put together to form the

Slime Shark. The main goal in the assembly process was to make the entire Slime Shark

modular; every component can be removed and a replaced with something different.

25

The frame was the first component to be completed. Once two square rectangles were made

from aluminum channel, they were attached to from the frame with four pieces of vertical

aluminum channel. This formed the two tiered frame. Once the basic frame was constructed the

cross members for the pressure housing and SAD were welded on the top and bottom rectangle

respectively. The pressure housing cross member was predrilled for the U-bolt; 2 5/8” holes

were drilled so the pressure housing could be attached to the frame. Matching holes were drilled

on the front top tier rectangle for a second U-bolt. The SAD is attached to the frame by drilling

holes into the front bottom tier so the ducted fan can be attached to the frame in the front and the

cross member using #10- 24 x ¾ pan head machine screws. Next, the two horizontal thruster

mounts were bolted onto the frame’s lower level sides using three ¼” – 20 x 1 ¼” hex cap

screws in a triangle pattern. Following which the two vertical thruster mounts were bolted onto

the front of the frame connecting the two tiers, and the back mount was bolted onto the back

inside of the frame. Both mounts used two – 20 x 1 ¼” hex cap screws two on the top tier and

two on the bottom. All mounts were predrilled for the hole patterns according to the thruster

specifications, so that once all construction was complete the thrusters could easily be attached

using #8 machine screws. The last major component to the frame was the addition of the

aluminum 1 ¼” square tubing, which is how the brush assembly is attached. The tubing was

welded onto the frame flush with both vertical aluminum channel on the front of the frame.

The brush frame was designed and constructed as its own entity. The brush frame was

similar to the main ROV frame being a rectangular shape; however it was from aluminum angle

iron instead of channel like the main frame. Once the rectangle was welded together, holes were

drilled on the top of the frame on the two shorter sides for the 1 inch diameter bearings. The

bearings were attached to the frame using ¼” – 20 x ¾” hex cap screws. Next, holes were drilled

on the side of the angle iron for the vertical brush mount, so the brush could be lowered and

raised.

7.0 Function Decomposition Structure

The Slime Shark can be broken into three main structural components: main frame, brush

assembly and electronics. The fiberglass shell or computer model is not built however it is a

main concept of the Slime Shark.

26

7.1 Aesthetic Shell

The following views are the latest designs of the Slime Shark ROV. The first figure of

this section shows the outer casing. This would either be created using fiberglass and a mold of

some sort or pressed plastic, depending on funding and time. Currently, both methods are being

considered, but fiberglass is more likely as a team in the future can create this. The second view

is the main frame containing the pressure vessel and thrusters. Below is our most current design.

Figure 9 Slime Shark Outer Case

As can be seen the case is made to resemble a hammer head shark. This is for fluid

dynamics and increasing marketability by making the design aesthetically pleasing.

27

Figure 10 Final ROV Design

The Slime Shark’s main frame contains all the necessary components of a ROV. Our

design is intended to be simplistic, and easy to build with the resources available.

7.2 Engineering Specifications

The engineering specifications describe the main parts that we have acquired their rating

and other useful information. Some of these parts were obtained from scrape yards so much may

not be known about them. The overall concept of the ROV will include all the components.

7.3 Main Frame

The main frame of the ROV is constructed of 6061 aluminum channel 2 ½” x 1 ½” with a

1/8” thickness. 6061 was chosen because of the overall properties; it has good corrosion

resistance, easy to TIG weld, and can be machined with little problem. Channel was chosen,

both, for its strength properties and ease of welding flat surfaces. The 2 ½” width allows

components, such as, the pressure housing, thrusters, SAD, and lifting flange, to have a stable

28

mounting surface. Extra support between frames is provided by ¼” x 1” 6061 aluminum bar.

All joints are TIG welded to specifications.

On the front of the main frame, is two 1 ¼” x 1 ¼” x 12” pieces of 6061 aluminum

square tube. This tubing provides the attachment point for modular apparatus. Four inches in

from the forward end of each tube is a 3/8” diameter hole. This hole is to pin the apparatus

receiver to the main frame.

7.3.1 Thrusters

The Seabotix BTD-150 Thrusters were selected for their power, price and their ease of

control. They use a DC Brush motor. Their picture can be seen below and their spec sheet is

located in the appendix.

Figure 11 Seabotix Thruster photo from Website

29

Figure 12 Seabotix Thruster Recieved

7.4 Brush Cleaning Assembly

The brush assembly is a modular component of the Slime Shark ROV. The assembly is

designed to attach to the main ROV frame with a hitch receiver system, similar to those used on

automobiles. This allows the assembly to quickly and easily be removed from the ROV and

another component could be pinned on. Two clevis pins push through the square tubing to hold

the entire brush system in place. A rectangular frame forms the main base of the assembly. It is

constructed of T6 6061 Aluminum channel bar that was cut in half-length wise to form 1.75” x

1.25” angle bar. The bar was cut using a chop saw to achieve the forty-five degree angle cuts.

The pieces were squared and welded together. Next, two 1” Uhmw-Pe polypropolene bearings

were bolted on top of the frame. The benefit of using these bearings is that they are designed for

use in harsh and corrosive environments, which is perfect for a seawater application. The

bearings are self-aligning, which allows for error in positioning of the bearings.

The brush used for the assembly was purchased from Tanis Inc. and is 18” long and 6” in

diameter. The nylon bristles are wound around a steel core and is to be mounted on a 1” keyed

steel shaft. The shaft that runs through the brush is made of steel, and is twenty-five inches

long. It is keyed over the entire length and is secured with setscrews.

On the side of the shaft, a synchronous Gearbelt XL Pulley is mounted. Timing pulleys and belts

were chosen to reduce possible slipping of the brush. This timing pulley allowed for a variable

bore shaft from 5/16” to 1”. The pulley was bore out to the 12” diameter as required for our steel

shaft. The pitch diameter of this pulley is 3.056 inches with 48 grooves. The outer diameter is

3.036”. This pulley system uses a 1/5 pitch and either a ¼” of 3/8” wide XL Series Gearbelt.

30

The Gearbelt chosen was a 3/8” wide, 105 tooth, 21” long belt. The belt was constructed of a

neoprene material, which is well suited for a marine environment. The belt connects to another

pulley mounted on a 1600 GPH bilge pump. Another synchronous Gearbelt XL Pulley was used

but only a bore size of 5/16” was required for the shaft of the motor. The pitch diameter of this

pulley is 2.037 “ with 22 grooves. The outer diameter of this pulley is 2.017.

The pump is mounted to the frame by two aluminum collars, which are welded to a piece of

aluminum channel. The channel has two slots located on the bottom, and is bolted to a plate that

is welded onto the main frame of the brush assembly. The channel slots are used to apply proper

tension to the belt, thus reducing the possibility of belt slippage. An aluminum plate with three

grooves attaches the brush assembly to the square tube receiver. The grooves provide a method

to raise or lower the entire brush assembly. This ensures that the brush will never have too much

or too little pressure applied to a vessel hull. Two sections of 1” square tubing are welded to the

vertical adjusting plate. This 1” square tube then is inserted into the 1 ¼” square tube which is

located on the main ROV frame. Two clevis pins are pushed through the receiver system and a

cotter pin is inserted into each clevis pin. This secures the brush assembly and ensures the

assembly does not become separated from the ROV during use. This plate is bolted to the frame

of the brush assembly and the grooves allow the head to move up or down, depending on the

amount of contact required for cleaning.

7.4.1 Brush

The brush core is constructed of polyethylene and is 4 ½” in diameter and 18” in length.

The bristles are constructed of nylon. Nylon was chosen because of its durability and pliability.

Because of its pliable nature, the bristles will not cause destruction of hull components or

antifouling paints. The bristles will extend past the brush core by ½” giving the brush an overall

diameter of 6”.

7.4.2 Shaft

The shaft is constructed of grade 304 stainless steel. The brush slides onto this shaft and

is held in place by two setscrews. Its overall diameter is 1” and is 25” in length.

7.4.3 Bearings

31

Supporting each end of the shaft is two 1” Uhmw-Pe Bearings. The bearings are

constructed of polyethylene and are housed in two-bolt stainless steel housing. The bearings are

highly resistant to corrosion, impact and abrasion. They are self-lubricating and are applicable

for wet and harsh environments. The self-alignment property makes it easy to mount the shaft.

Figure 13 Bearing from Granger

7.4.4 Frame

The frame is constructed of 6061 Aluminum square tubing 1”x 1”. This frame will

provide rigidity for the rotating brush as it makes contact with the hull. Two 1”x1”x 12” pieces

of tubing are located on the back of the assembly. This will slip into the two 1 ¼” x 1 ¼” x 12”

located on the main frame. The 1”x1” pieces of tubing also have 3/8” holes drilled in accordance

with the specifications of the main frame tubing receiver. The 3/8” pin will connect the cleaning

assembly to the main frame and till not allow any torque to occur.

7.5 Pressure Vessel

The pressure housing is comprised of a 6” inner diameter aluminum pipe with a length of

12”, and four aluminum flanges in two different sizes. The flanges on the side which the camera

is located are two 7” diameter metal circles. One flange has a metal lip with an o-ring groove to

seal the clear plastic dome that the camera is inserted through. Because of the spacing of the

holes on the flange, the edge of the pipe was beveled with a grinder before it was welded to the

aluminum pipe. On the other end of the pipe, is the second size flange of 8”. The flange has a

doughnut shape, with the 6” diameter center being cut out. This will allow the electronic

32

mounting boards to easily slide extracted. Again, this flange is welded onto the aluminum pipe;

however, since it had different hole spacing there was no need for the edge of the pipe to be

beveled first. The o-rings were greased using a thin coat of silicon grease, allowing them to

obtain a seal. The matching flange is then bolted on using ¼” x 20 x 1 ¼” hex cap screws.

7.6 Electronics

In addition to a well designed and constructed frame paired with quality parts an ROV

requires more. To move the ROV and control it in a precise way well designed electronics that

work well with the components purchased must be designed, tested and created. Once this has

been accomplished proper programming must take place to make this successful.

There are two distinct areas where the electronics are located with the Slime Shark. The

first is the topside control box. The other is the bottom side electronics located within the

pressure vessel. The figure below explains in a diluted way where parts of this complicated

system are located. The following are sections that will explain this figure in a greater detail.

Top Side - Control Box

Bottom Side - ROV

Tether

Video Input

Video Overlay

Video Overlay Joysticks (2) Dial ControlDial Control

SAD Brush MotorThrusters (4)Pressure Gauge

Vector Compass

Video from Camera

LEDS for Thruster Feedback

Monitor

Switch

Light

Electronics

Figure 14 Electronics’ Flowchart

7.6.1 Topside Electronics

33

The topside electronics is contained within a Pelican 1550 case. The components within

the topside case are for control, feedback, and power supply to the ROV. The Electronics

excluding the monitor are mounted on to two pieces of ABS which are connected using a hinge.

ABS is a type of plastic which is easy to cut. This includes the joysticks which control the

ROV’s main thrusters. The top of the ABS with all the controls can be seen below.

Figure 15 Contorl Box

The joysticks being used are a simple, older model which uses springs and

potentiometers. The joysticks being used are two-axis joysticks which means they use two

potentiometers, one in the X direction and one in the Y direction. An example of our joy stick

can be seen below.

Figure 16 Joystick

34

This is the same method used within the dial controls for the SAD and the motor for the

spinning of the brush. The only difference is the potentiometer is in a different orientation so that

it may be spun by hand and not by a spring.

The other form of control is a switch. This is to control the light which is only necessary

to be turned on and off. Currently neither of these switched is connected to the communications

board as one port is an extra for later use and the other is for the light which is currently not

operational.

The communications board uses one PIC 16F876 to receive the control signals from the

above methods of control and completes the required logic for the correct signal to be sent to the

bottom side electronics within the pressure vessel. To communicate with the bottom side

electronics a MAX485 is used. The communications are sent through the tether using two wires.

An LCD is apparent in the schematic that is not seen in the true mounting of this system but is

available for diagnostic purposes. The schematic of the topside communications can be seen

below.

Figure 17 Schematic topside Electronics

35

The topside electronics control board is not a pre-made board that can be bought off the

shelf. Instead of ordering this board form a company that could create the foils to allow for a

more compact board the components were mounted onto a bread board. This allowed for more

alterations as they became necessary. Below are photos that show this board.

Figure 18 Topside Communication Population

Figure 19 Topside Communications Wiring

Feedback is received from the bottom side of the electronics. When the control for a

thruster to move either forwards or in reverse is activated, the signal is sent to the electronics in

the pressure vessel. Once this task is completed, feedback is sent back to the topside electronics.

This is then visible though the 8 LEDs located on the ABS mounting plate. If the thrusters are in

36

the forward direction a green LED will illuminate; if in the reverse a white one will signify the

task is completed.

The topside control box also allows for measurements. This is most apparent once

opening the box to view a 15” monitor. This monitor is connected to a video overlay system

known as the XBOB as seen below.

Figure 20 XBOB Video Overlay

The video overlay allows for the feed from the camera to be viewed while the values measured

from the pressure transducer and the compass to be viewed on the screen on top.

The topside electronics case also holds 2 of the 3 converters used for powering the ROV.

The two contained are the AC to 12V DC converter and AC to 300 V DC converters. Both

converters are pictured below.

37

Figure 21 AC to 12V DC Converter

Figure 22 AC to 300V DC Converter

The 12V DC converter is used to power the monitor and communications board which in turn

sends power so that values can be read from the controls. The AC to 300 V DC converter is used

to send the power to the ROV through the tether. A high voltage is used so that the resistance in

the tether will not waste as much power, because a smaller current is used. The converter

purchased comes with a harmonic attenuator. This is hoped to reduce the electronic noise in the

tether which could affect the video signal. Once the power reaches the bottom side a converter in

the pressure vessel then converts the voltage sent into something more reasonable to power

electronics.

38

7.6.2 Bottom Side Electronics

Located inside the pressure vessel is the other side of the ROV’s electronics. To properly

hold these electronics a mounting plate was created and can be seen below.

Figure 23 Pressure Vessel Electronics Mounting

The bottom side electronics are used to power and control the different components. For

the power to be useful when it reaches the bottom side a converter lowers the voltage to 12V.

This converter is a Vicor maxi family type converter as can be seen.

Figure 24 300V DC to 12V DC Converter

This is then supplied to the main control board. The communications also connect to the

main board using another MAX485. There are 3 PIC16F876 packages that are used to control the

components on the bottom side. To control each of the PICs using one communications line each

39

PIC must have a separate unique address so the values being sent are not confused. This also

means that the timing of each PIC must be precise. The reason for this many PICs is that each of

the thrusters, the SAD motor and the Brush motor are controlled using PWM. Each PIC is only

supplied with 2 PWM Channels, and the ROV requires 6. This system was designed by Larry

Buist; the Schematic can be seen below.

4

56

U5B74LS00

Ground

J3

Power Input Pins

SPARES

P/C

Dir 3

PWM 4

Spare

3

1

M1

Guide Up

Guide Down

4

2

M6

M5

Digital In

12

1311

U4D74LS00

Analog In 1

Analog In 2

Analog In 3

Left side

Comunications to surface

SAD

LCDOption

1

BrushMotor

Dir 4

1ea LM7805

4ea 74LS00

3ea PIC16F876

32ea N-Ch Mosfets

32ea P-Ch Mosfets

PARTS LIST:

8ea 2N3904

1ea MAX485

M3

12

1311

U6D74LS00

4

56

U5B74LS00

4

56

U6B74LS00

M4

12

1311

U7D74LS00

4

56

U7B74LS00

Dir

9

108

U7C74LS00

PWM 3

9

108

U6C74LS00

SDO

U2-13

U1-13

U1-12

PWM 1 4

56

U4B74LS00

PWM6

PWM5

M2

12

1311

U5D74LS00

Grd

+5v

4

56

U5B74LS00

Grd

+5v

SDO

P/C

CAL

EOC

SCLK

9

108

U5C74LS00

Connection to Compass

1

6

5

4

3

2

SPARE

J2

7

Right side

9

108

U4C74LS00

2

6

5

4

3

4

56

U6B74LS00

J1

7

360

U8

5

8

.1

120

RO1

DI4

RE2

DE3

A6

B7

MAX485

3

4

1

2

Pressure

Compass

PIC16F876

U1

LM7805

Rear Vertical

Front Vertical

PIC16F876

MCLR/VPP/THV1

RA0/AN02

RA1/AN13

RA2/AN2/VREF-4

RA3/AN3/VREF+5

RA4/T0CKI6

RA5/AN4/SS7

OSC1/CLKIN9

OSC2/CLKOUT10

RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP1 13RC3/SCK/SCL 14RC4/SDI/SDA 15RC5/SDO16

RC6/TX/CK17RC7/RX/DT18

VD

D20

RB0/ INT21RB122RB223RB3/PGM24RB425RB526RB6/PGC27RB7/PGD28

19 8

GRD

GrdVIN VOUT

U2

LEDs

MCLR/VPP/THV1

RA0/AN02

RA1/AN13

RA2/AN2/VREF-4

RA3/AN3/VREF+5

RA4/T0CKI6

RA5/AN4/SS7

OSC1/CLKIN9

OSC2/CLKOUT10

RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP113RC3/SCK/SCL14RC4/SDI/SDA15RC5/SDO16

RC6/TX/CK17RC7/RX/DT18

VD

D20

RB0/ INT21RB122RB223RB3/PGM 24RB4 25RB5 26RB6/PGC27RB7/PGD28

19 8

GRD

U2-12

Copyright 2008Larry Buist -

lbuist@fit.edu (321)674-7216For Ocean Engineering - Florida Tech

J4

4.00MHZ

4

3

2

1

7

6

5

U3PIC16F876

MCLR/VPP/THV1

RA0/AN02

RA1/AN13

RA2/AN2/VREF-4RA3/AN3/VREF+5RA4/T0CKI6

RA5/AN4/SS7

OSC1/CLKIN9

OSC2/CLKOUT10

RC0/T1OSO/T1CKI11RC1/T1OSI/CCP212RC2/CCP113RC3/SCK/SCL14RC4/SDI/SDA15RC5/SDO16

RC6/TX/CK17RC7/RX/DT18

VDD

20

RB0/ INT 21RB1 22RB223RB3/PGM24RB425RB526RB6/PGC27RB7/PGD28

19 8

GRD

4

56

U7B74LS00

Grd

+5 volts

Connection to PC Board

and PIC U3 - PORTB

Com

pas

s

EOC

Digital I/0

Dir 1

1K

1K 1K

1K 1K

1K1K

6.8K

6.8K 6.8K

6.8K

6.8K

6.8K6.8K

6.8K

1K

Digital I/0

CAL

GRD

M/SSDI

SDO

SCLK

SS

CAL

Y-FLIP

X FLIP

P/C

RES

BCD BIN

RAW

EOC

CI

+5V

Spare

Dir 2

PWM 2

Some power pins not shown connected on schematic

All ICs have .1uf decoupling cap accross power pins

.1 10uf

Digital I/0

J5

Title

Size Document Number Rev

Date: Sheet of

/SUB3

SLIME SHARK ROV CONTROL BOARD

C

1 1Thursday , June 19, 2008

SCLK

Grd

+5 volts

Digital I/0plus power

J6

Figure 25 ROV Main Board Schematic

This board could also not be purchased off the shelf and instead was designed and sent to

a company which was able to create the board and send it so that it may be populated with

components. Once populated, the board was programmed so that it may be used. The populated

board can be seen below.

40

Figure 26 Bottom Side ROV Main Board

Pulse width modulation uses a square wave and the average of the duty cycle to control

the speed of the motors, this method allows for very precise control. Each control has 256

degrees of control this allows for the thrusters to have 128 degrees in the forward direction and

128 in the reverse. This method is also used for the SAD and Brush motor, with changes in the

programming that account for these motors being mono directional.

To allow the thrusters to go in both the forward and reverse directions, H Bridges are

used. This is a system of transistors that are opened and closed using the PIC that allows the

direction of the current to be controlled which determines the turning direction of the motors.

One of the main worries when using transistors in this fashion is overheating. In this design the

transistors did not warm when tested.

Other forms of control are for the light which is strictly on and off.

The main board also supplies power to the compass and the pressure transducer and read

the values they supply. Although it is not connected to the main board, the camera is also

supplied with 12V DC and a video feed is returned directly to the tether. These are then sent to

the top side for viewing. The camera, compass board, and pressure transducer are shown below.

41

Figure 27 Camera

Figure 28 Compass Board

Figure 29 Pressure Transducer

7.6.3 Water Proof Connectors

The thrusters, SAD, brush motor, and light are all located outside of the pressure vessel.

To control them they must be connected to the main board. Water proof connectors from a

previous year’s senior design ROV were found and used. Water proof connecters are also used to

connect the tether to the ROV.

42

7.6.4 Programming

Programming was completed in Basic which allowed for many people to help. The code

for our topside communications can be seen in the appendix. Two people that made a major

contribution to the programming who are not on the senior design team are Larry Buist and

Thaddeus Misilo. For our design certain software additions were required of else the hardware

would not function properly. An example of this is to address which PIC the topside PIC was

speaking to. Another requirement was with the use of H bridges. If the person controlling the

ROV with the Joystick jerks forward and then reverse it could open two of the transistors at the

same time which would short the circuit. This would largely damage the hardware. To alleviate

this issue a pause was put in when traveling from the forward to reverse direction at the duration

of half a second.

7.7 Suction Attachment Device

The Suction Attachment Device (SAD) will suction the Slime Shark to the boat hull for

cleaning and inspections. The SAD is a large ducted fan thruster using a bilge pump as the

motor. The idea of using a bilge pump came from Michael Plasker who had pervious experience

with this concept. A Photo of this can be seen below.

Figure 30 Suction Attachment Device

A West Marine 1600 GPH bilge pump was used. After acquiring the pump, a bollard test

was completed in the pool to determine the amount of thrust the pump and fan could provide.

43

An old ducted fan was converted into the skeleton of the SAD; the motor was taken off,

the propeller was saved, and the round motor collar was cut off. A new collar was made to fit

the bilge pump; the collar was then welded onto the duct. The bilge pump was then screwed into

the collar using #10-32 x 1 ¼” machine screws. The bilge pump shaft was a keyed 3/8” shaft,

which fit the propeller perfectly. The SAD is screwed into the front of the frame and into the

SAD cross member mount welded onto the frame.

8.0 Ethical Issues

In any design there are ethical issues that are involved; the Slime Shark is no different.

The issues involved in this project did not have a major effect on the design process. Instead all

of the issues can be resolved in further small changes to the project as can be seen in the

recommendations

8.1 EPA Compliance

Since the Slime Shark will be built non-EPA compliant, engineering ethical issues come

into play. The plume of slime admitted into the water should not be very visible to the naked eye

because of the slow speed of the ROV on the boat hull. Furthermore, we do not believe the

pressure from the brush head on the boat hull will cause any damage to antifouling coatings; this

fact is important part of the EPA standard of boat cleaning not to admit any toxic particles into

the water. Another reason the ROV is not EPA compliant is because the ROV will be for private

use. The EPA mandate states the “permit requirement does not apply to boat owners who are

cleaning their own boats, but it does apply to anyone who professional cleans boats in a marina”

(Boat Cleaning 4-91). We will not be cleaning ships professionally. The ROV will only be

cleaning hulls in the testing phase rendering the regulation invalid. If any further testing at

marinas is to be completed, the group recommends the ROV be modified so it will be EPA

compliant. The Slime Shark not being EPA compliant at the present time is acceptable since it is

taking into consideration the spirit of the law.

8.2 Cavitation

The brush head attachment may cause cavitation to occur while in use in the water.

“Cavitation occurs when vapor bubbles form and collapse. This phenomenon will cause noise in

44

the water” (Wood). A rotating brush will act similar to a ship’s propeller, causing noise.

Different city, state and/or national statues regarding noise need to be followed. This is a legal

issue that needs to be examined issue. The instant at which cavitation will occur can be solved

by the following:

σ = (Po-Pυ) / .5(ρ*v²)

Cavitation is dependent on speed, depth, temperature, and salinity of water. Noise in

water will affect marine life. If an area of the port is too noisy, it will have less marine life

activity.

Not only is cavitation an ethical issue, it is a potential flaw in the design. When the air

bubbles from cavitation collapse as they move to a region of higher pressure they can damage the

surface of the ROV, causing erosion. Pitting in the aluminum frame may be caused from

cavitation. Pitted metal will shorten the design life of the Slime Shark ROV.

9.0 Safety

There are many safety issues that must be taken into consideration while building and

testing the Slime Shark. The issues range from simple common sense issues to more complex

safety procedures. When any material is used the MSDS should be referenced to follow the

specific guidelines OSHA impended.

Most of the build phase of the ROV will be completed in the Florida Tech machine shop.

While working in the shop eye protection must be warn at all times to protect our eyes from

flying materials on the machines, both from the ROV and other projects being worked on while

at the machine shop.

Figure 31 Use of Safety Equipment

45

Closed toe shoes must be worn while at the machine shop; this will protect our feet if anything is

dropped. No baggy clothing can be worn; this will drastically reduce the possibility of clothing

being caught in a machine. Another machine shop safety rule states there will be no jewelry,

rings must be taken off and necklaces tucked under shirts. An additional safety rule is never to

work alone in the machine shop; at least two people must be present at a time. Before machining

any parts, the MSDS sheets for the specific material should be reviewed to check any additional

safety precautions. Lastly, hair must be pulled back to prevent it being caught in a machine.

The pressure housing and other components of the ROV will be welded to the main

frame of the Slime Shark; when welding the group will be following the safety guidelines as

prescribed by the American Welding Society. Contacts should not be worn while welding (Fact

Sheet 12 1), even though a welding mask must be worn with safety glasses worn underneath the

welding helmet (Fact Sheet 31- 1). Wear flame retardant clothing or at the minimum non-

flammable clothing should be worn (Fact Sheet 7 -1). The welding should be completed in a

well ventilated area. Radiation could occur while welding if the proper rules are not followed,

such as welding helmets that have UV protection, and respiratory when the MSDS sheets require

such action. (Fact Sheet 2 1). If radiation happens the result could be burns or eye injury.

Before welding, the guidelines should be reviewed.

Others tools used in the machine shop also have safety factors that need to be followed

for their use. A couple of these tools were identified while completing this project.

While grinding the aluminum metal, during the build phase of the frame additional safety

issues were identified. Heavy aprons were worn to protect the tool user from the metal shards

flying off when using both the hand grinder and the right angle hand grinder. When the hand

grinder was being used, in addition to the heavy apron, all present in the metal ship was wearing

eye protector and ear plugs.

Also, a miter saw was used to cute the 45° angle edges in aluminum angle iron. The saw

causes aluminum shavings to fly off, therefore eye protection was worn. Ear protection was also

worn because of the noise.

In the future, the outside shell of the Slime Shark will be fiberglass and using epoxy resin

105 from West Systems. Epoxy resin should be used in a well ventilated area, and a respirator

should be worn to protect oneself from the fumes. After using the epoxy resin all exposed skin

46

areas should be washed thoroughly to prevent skin irritation; in addition, gloves and long sleeve

should be worn to protect the skin (West Systems 2). Also when handling, eye protection should

be worn.

Electronic safety must be considered when building the electronics and circuit boards.

Before working on the circuit boards we must ground ourselves, to prevent a static discharge

onto the board. If the board is to be tested with batteries, do not mix rechargeable with non-

rechargeable batteries. When building the circuit boards for the ROV, the components will be

soldered to the boards. Even though soldering safety seems like common sense it still must be a

priority. Never touch the end of the soldering iron; as it will leave a burn on the skin. After

working with solder, thoroughly wash your hands since solder can contain lead. Soldering must

be completed in a well ventilated area.

There are many safety rules that need to be followed during the build phase of the ROV.

However, the ROV will be built safely and successfully because this group is aware of all the

safety precautions.

10.0 Budget

Our budget is split up into two main areas, time costs and equipment costs. The first

listed is the most commonly thought of for budgets. Following is the time expenditures and an

estimated cost from the time spent by key people to design and begin building of the Slime

Shark.

10.1 Bill of Materials

The Bill of Materials below explains the costs of the purchases that have been made and

the total amount of money spent. Many items that are needed are either available from previous

projects or as a donation. The items listed as a $0.00 cost are under this category.

Our original maximum allowed budget was set at $1500.00 through the Marine Field

Project funds. This was changed for unknown reasons to $1000.00, Dr. Wood helped us obtain

additional funding which enabled us to purchase better equipment for the ROV, namely the

Seabotix thrusters. Afterwards the team was fortunate enough to be granted some extra funds

from the school in the amount of $2500. Through thriftiness and searching this budget has been

able to go a long way. A table of full expenses can be seen in the appendix.

47

10.2 Time Expenditures

Time was very difficult to log and therefore two methods were created. Both are

viewable in the appendix. The team members worked very hard to complete their project and

nearing the end would put about 60 hours per week in to this project.

11.0 Results

Our project has resulted in an impressive prototype ROV with all the electronics that

could be required to control it. The ROV has a frame that allows for things to easily be added

and removed. The brush design is an early concept that can be used for testing different types of

brushes. It is hoped that in the future another design team would like to take over this project and

make it their own, so that one day the Slime Shark will be marketable.

12.0 Conclusion

It is believed that our ROV has an overall good design and that the team has performed

on time and within budget. We had a well built ROV to present at the DMES Field Project 2008

Symposium, and hopefully will have a shell and everything properly mounted to be an

impressive fully operational ROV in time for the May Senior design showcase.

12.1 Recommendations

The recommendations of improvements for the Slime Shark ROV would allow for a

highly marketable product to a variety of customers.

12.1.1 Addition of a Second Camera

The addition of a second camera to add a rear view will be highly useful to the Slime

Shark. This would allow the pilot to see what has been cleaned without turning the ROV around,

saving time. It would give the pilot a better understanding of the ROV’s placement on the boat or

in a reef area. The purchase of a second camera and creation of an additional pressure vessel to

contain the camera is recommended. This would need to be mounted on the rear of the ROV.

Suggested placement is on the tail area above the rear thruster. The video from the second

camera would need to be sent to the main pressure vessel to be transferred to the tether for

48

viewing on the display screen topside. A second screen would need to be purchased or

development for a split screen or a switch to go between video feeds would be necessary.

12.1.2 EPA Compliance through a filtering system

The current design the Slime Shark is not compliant for professional usage due to EPA

regulations. This is due to the clean water act, which is concerned with the void of dissolved

oxygen in some green slimes and cloudy water from removing the bio-fouling of a boat hull. The

EPA Regulation states “Discharge of any processed water by a marina or boatyard is illegal

nationwide without a formal permit from EPA or state government. This permit requirement

does not apply to boat owners who are cleaning their own boats, but it does apply to anyone who

professionally cleans boats in a marina.” National Management Measures Guidance Section 4.13

Boat Cleaning (United States).

For the Slime Shark to become EPA compliant, a cloudy water removal system must be

implemented. This could be completed in a number of ways; the most logical choice would be to

have a filtering system incorporated into the brush system, making it more like a pool vacuum.

There could be a tube of some sort attached to the rear of the brush head area allowing the dirty

water to travel into the body instead of the surrounding water. In the body of the ROV would be

a filter that would remove the particulates and would then allow the cleaner water to exit either

mid or rear body. Another method which would be more expensive and time consuming would

be to have the dirty water pumped to the surface where it would be stored in a holding container

to be disposed of properly.

12.1.3 Creation of other Head Units

One reason the Slime Shark is potentially extremely marketable is the removable head

units. Other head units could be designed, built and tested for use on the Slime Shark. Different

brushes allow for cleaning of different slimes, therefore a multitude of brushes could be designed

depending on the cleaning requirement. Another potential head unit design would be for

scientific equipment.

49

12.1.4 Wireless Control

The wireless control option would allow for the cleaning of other environments. This

would also remove the risk of the ROV becoming tangled or the tether applying force on the

ROV in the case of the “tail wagging the dog.” To implement this, the proper circuitry boards

must be designed and built. The main problem is that the sending and receiving of information

through a water medium is very difficult. A work around for this issue is to program the ROV

into an autonomous mode while it is at the surface or to have a tether attached to a receiver at the

surface such as a buoy. This may still have the issue of the tether controlling where the ROV

moves because of surface currents.

12.1.5 Autonomous Cleaning

Autonomous programming would allow for the Slime Shark to complete many tasks

simultaneously. Programming could include hull cleaning which would require additional

sensors to be added to the Slime Shark for the ROV to determine its own location. This would

allow for cleaning to occur without a pilot and around the clock, and its duration only dependant

on the brush and battery.

12.1.6 Online Control

The idea to have the web control as a future recommendation for the Slime Shark came

from the articles IRL: An Interactive Real- Time Logging System for ROVs and The Streaming

Data Management Challenge: integrating Multiple Channel of Real- Time Data from a Variety

of Sources- and Logging – in a Flexible and Familiar Environment.

The Canadian Scientific Submersible Facility uses an HTML format for its cruises for

manned and unmanned ROVs. By using this format it allows “each gathering its own specified

input: logged text, positioning data, digital frame grabs” (Juniper 1) to be networked. This

method uses four main work stations, a hot seat researcher, event logging, image logging, and

continuous video archiving. This method allows real time data to anyone through the website; in

addition each member of the research team then gets a CD with all the information from the

cruise on it.

At this stage having the HTML access is not practical because of cost issues. A new

tether would have to be purchased since “all the data and video are multiplexed through a fiber-

50

optic system from the vehicle cage to the surface winch, increasing bandwidth and depth

capability” (Shepherd 1). In addition, the main goal of the Slime Shark ROV is to clean hulls,

when the additional attachments heads are made including the research science instrumental

head, this would be a great way to collect the data, letting scientists see it in real time on the web.

The thought of HTML also gave the team the idea for the design showcase. The goal is to make

an interactive presentation on the computer; an image of the ROV will be visible, giving the user

the option to click on the different components. When different components are selected,

various information is displayed.

12.1.7 Cathodic Protection

The Slime Shark is made almost exclusively of aluminum 6061- T6; however, the

brush mechanism shaft is stainless steel. Since the slime shark will be in water, corrosion is

possible. A two part cathodic protection plan should be enacted; the first being on the ROV

frame and the second on the brush mechanism. The more advanced of the two protection

systems will be on the brush head since that the only place there will be a mixing of metals.

Both stainless steel and aluminum 6061- T6 are components of the brush head. A zinc

sacrificial metallic anode should be used.

An anti-foiling paint will not be used in conjunction with the anode. Since the Slime

Shark will not be in the water continuously it is unlike that bio-fouling will occur. Also if the

paint was to chip or scratch it would cause more corrosion issues then if there was no paint.

Even with the anodes, other precautions should be taken. Whenever the Slime Shark is removed

from the water, it would be thoroughly rinsed with fresh water. When not in use, it should be

stored indoors. These simple measures will help prevent corrosion.

12.1.8 Custom Brush

It is recommended the current brush head be replaced with a custom designed brush. A

custom designed brush would allow cavitation to be minimized. A study should be completed

similar to Dr. Gregory Swain’s study of brushes with the Hull Bug ROV to maximum slime

removable with the minimum amount of time. This would drastically increase marketability of

the Slime Shark.

51

12.1.9 Fiberglass Shell

In the original Slime Shark ROV concept, the fiberglass shell was in the design concept.

The shell was to be placed and attached to the body frame and brush assembly frame. Due to

both time and budget constraints this idea was scrapped. For aesthetic reasons, a fiberglass shell

should be added. Again this would increase the marketability of the ROV. It would allow the

ROV to stand out from its competitors. A project could be specifically devoted to designing and

building the shell because of its complexity. The basic form would need to be designed with

‘holes’ to let water circulate to allowed the SAD and bilge pumps to work correctly. Inputting

the basic concept design of the Slime Shark into ProEngineer will take an extended time because

of the amount of surfaces involved.

12.1.10 Pressure Vessel Front Flange

The front pressure housing flange, which is welded onto the pipe with an o-ring groove

for the camera dome was machined incorrectly. An acceptable o-ring was found as a

replacement. The o-ring being substituted is still not correct for the groove, yet the pressure

housing is not leaking during any of the water submersion tests. In the future an o-ring for the

specific grove dimensions should be used. If this is unavailable, the front flange should be cut

and a new one machined with a groove for acceptable o-ring. The new o-ring should be able to

withstand the pressure of the back flange o-ring. By instituting this recommendation, the

pressure housing will be that much stronger and less prone to a leak.

52

13.0 References

American Society of Welding. “Safety and Health Fact Sheet No. 2- Radiation.” October 2003.

<http://files.aws.org/technical/facts/FACT-02.PDF>

American Society of Welding. “Safety and Health Fact Sheet No. 7- Burn Protection.”

September 1995. <http://files.aws.org/technical/facts/FACT-07.PDF>

American Society of Welding. “Safety and Health Fact Sheet No. 12- Contact Lens Wear.

September 1995. <http://files.aws.org/technical/facts/FACT-12.PDF>

American Society of Welding. “Safety and Health Fact Sheet No. 31- Eye and Face Protection

for Welding and Cutting Operations. December 2006.

<http://files.aws.org/technical/facts/FACT-31.pdf>

Florida Institute of Technology. “Florida Institute of Technology Diving Control Program.”

2005.

Juniper, S. Kim, John F. Garrett, Keith Shepherd, Keith Tamburri, Kim Wallace. “IRL: An

Interactive Real- Time Logging System for ROVs.”

Ledford’s Royal Swimming Pools. Automatic Pool Cleaners. 2008. 13 Mar. 2008

<http://www.royalswimmingpools.com/Polaris.htm>

Nova Ray. Revolutionizing the ROV Industry....... Again!. 2006. 13 Mar. 2008

<http://www.novaray.com/index.htm>

Ocean Engineering & Production, Inc. “Tether Management System.”<www.hboep.com>

Pentair Water. Automatic Pool Cleaners. Onga. 13 Mar. 2008

<http://www.onga.com.au/www/109/1001127/displayarticle/1001229.html>

Pool Merchants. Aquaproducts: The World’s Leader in Robotic Pool Cleaning. 2004. 13 Mar.

2008 <http://www.poolmerchants.com/page5.html>

Roper Resources Ltd. VHC Underwater Crawler. 2004. 13 Mar. 2008

http://www.roperresources.com/pdfs/VHC-underwater-crawler.pdf

Seabotix. International Ocean Systems. January/February 2007. Volume 11 Number 1. Pg 4.

Shepherd, Keith and Kim Wallace. “The Streaming Data Management Challenge:

integrating Multiple Channel of Real- Time Data from a Variety of Sources- and

Logging – in a Flexible and Familiar Environment.” www.irls.ca

"Testing the Thrust of Your Motors." Weblog post. Swimmy Thang! . 15 Mar. 2007. 22

53

July 2008 <http://swimmythang.blogspot.com/2007/03/testing-thrust-of-your-

motors.html>.

TTCP MATERIALS TECHNOLOGY AND PROCESSES GROUP. "Prevention of Marine

Growth on Naval Vessels." Defense Technical Information Center . Ed. TECHNICAL

PANEL TTCP – MAT-TP-6. Aug. 2007. 13 Apr. 2008

<http://www.dtic.mil/ttcp/casmat2.htm>.

United States. Environmental Protection Agency. "Section 4." National Management Measures

Guidance to Control Nonpoint Source Pollution from Marinas and Recreational Boating.

By Edwin Drabkowski.Vols. EPA 841-B-01-005. Office of Water, 2001. Nov. 2001.

EPA office of Water. 13 Apr. 2008 <http://www.epa.gov/nps/mmsp/section4.pdf>.

Ward, Chris. ROV.net. 2002. Work Ocean Limited. 13 Mar. 2008 http://www.rov.net/

West Systems Inc. “Material Safety Data Sheet West Systems Inc. Resin 105.” 3 January 2008.

http://www.westsystem.com/webpages/userinfo/safety/MSDS105.pdf

Wood, Stephen. "Fluid Mechanics." Fluid Mechanics Class Lecture. Link Building, Florida

Institute of Technology. Fall 2007.

14.0 Appendices

Attached is information that is useful to better understand the Slime Shark ROV and its

team. First is the information relative to the ROV and following is the resumes of the individual

team members.

54

Appendix A.1 Hand Calculations for Pressure Vessel

55

Appendix A.2 Seabotix Ad

56

Appendix A.3 Resume – Kelley Pitts

Kelley S. Pitts FIT 5968 1399 Gray Haven Ln. 150 West University Blvd. Brighton, MI 48114 Melbourne, FL 32901 (321) 480-7314 (321) 480-7314 kpitts@fit.edu kpitts@fit.edu

OBJECTIVE: Seeking a position that will allow me to develop and build my ocean engineering skills with a career path that allows for advancement and making positive contributions. EDUCATION: Florida Institute of Technology Bachelor of Science, Ocean Engineering, expected graduation August 2008 Relevant Courses:

Instrumentation Design and Measurement Analysis Mechanics of Materials Hydro-Acoustics Hydromechanics and Wave Theory

EXPERIENCE:

Slime Shark ROV: Design and build ROV to conduct hull inspections and cleaning in a team atmosphere

Coastal Structure Breakwater: Designed a breakwater per specifications Field Project: Competition of Marine Field Project, including a research boat expedition

in July of 2008.

WORK EXPERIENCE: Store Associate, Kohl’s, Brighton, MI, 10/2005 – Present

Assist customers, merchandising, register and unloading truck Office Assistant, Alumni Department, Florida Institute of Technology, 9/2004- 5/2007

General office work including updating databases Assistant Pool Manager, Waldenwoods Recreational Resort, summers 2001-2005

Manage pool, scheduling, water sampling, and assisting resort members SKILLS:

Software: Dr. Frame; Matlab; ANSYS; ACES; Eagle; MP Lab; ProE Programming Skills: C++; C; HTML Computer Platform: Microsoft Windows (XP, Vista); Mac OS Proficient in Microsoft Office Suite (Word, Excel, PowerPoint); Access; Project Machine Shop certification May 2008 FIT Dive certification May 2008

57

Appendix A.4 Resume – Amy Pothier

Amy Pothier Florida Institute of Technology Student

apothier@fit.edu Home 321-725-8563 Cell 860-460-4440

506 Cornell Ave

Melbourne, FL 32901 US

OBJECTIVE Obtain an entry-level engineering position utilizing my education and training in ocean engineering. EDUCATION Florida Institute of Technology, Melbourne, FL Bachelor of Science in Ocean Engineering candidate Anticipated graduation, Dec. 2008 Three Rivers Community Technical College, Norwich, CT Associate of Science, Mechanical Engineering Technology, May 2004 CAD Certification, May 2004 GPA 3.47 RELEVANT COURSEWORK • Senior Design Project Member of the ROV design team. Concept design is a hull cleaning, remotely operated vehicle called the Slime Shark. Vehicle is being designed to clean and inspect the hulls of mid-sized pleasure craft. The Slime Shark is currently in design phase and will be constructed Summer 2008. EXPERIENCE Melbourne Greyhound Park, Club 52 Poker Room, Melbourne, FL Feb 2005 - present Floor Supervisor • Demonstrate leadership skills to facilitate an organized, profitable business • Guide staff and patrons in accordance with governing State of Florida Gaming Laws • Train staff and law enforcement Foxwoods Resort Casino, Mashantucket, CT June, 1996 - Aug., 2004 Table Games Dealer • Assisted customers betting requirements in accordance with State of Connecticut gaming laws. • Provided a superior level of customer service while maintaining game security. Mystic Marine Basin, Old Mystic, CT Feb., 1994 - Jan., 1998 Owner/Operator • Operated 39 slip, full service marina • Created proposals and job bids • Responsible for service contracts, marine store inventory, and accounting A & A Research, Inc., Noank, CT May, 1990 - Jan,. 1994 Owner/Operator • Conducted side-scan sonar surveys using a Klein 595 dual frequency sonar. • Compiled results, performed data analysis and formulated reports as required. • Projects include: Pensacola Shipwreck Survey Dive Into History Project SKILLS • Auto Cad • Rhinoceros • Ansys • Microsoft Office including: Word, Excel, Access, PowerPoint, and Publisher

58

Appendix A.5 Resume – Amanda Mackintosh

AMANDA MACKINTOSH 3151 S. BABCOCK ST, APT 179 PHONE 561 346 9666 MELBOURNE, FLORIDA 32901 AMACKINT@FIT.EDU OBJECTIVE To further develop skills and knowledge in Ocean Engineering and create positive contacts. EDUCATION Florida Institute of Technology, Melbourne, FL

B.Sc. in Ocean Engineering, expected May 2009 In process of Junior/Senior design were team is designing and building a ROV

WORK EXPERIENCE FALL 2007- PRESENT SUMMERS 2006 , 2007 SCHOOL YEAR 2004 – 2005

Work Study, Underwater Technologies Lab, FIT, Melbourne Florida Further knowledge of underwater technology, specifically in the fields of ROVs and AUVs. Assist in completed the Autonomous Mobile Buoy Project through the control box and other

electronics Camp Assistant, Everglades Youth Conservation Camp, FAU, North Palm Beach Florida

Assisted Camp Coordinator with duties through staff evaluations and conflict resolution Taught students basic survival skills for the outdoors, canoeing and archery. Organized and coordinated social activities for campers. Have been employed every year since 2004 and before volunteered.

Intern - Engineers, Designers, Fabrications Inc, North Palm Beach, Florida Re-organized a library for ACE auditing. Performed regular office duties such as formatting drawings.

COMMUNITY SERVICE FIRST Lego League FL State Championship 2008 Judge

Wow That’s Engineering volunteer Participated in many Alpha Phi philanthropy events such as Duck Dash, Send your Crush a Crush Relay for Life volunteer Co-Coached a competitor for Big Man on Campus 2007 (Fund raiser for Heart Assn.)

CERTIFICATIONS First Aid, CPR, Basic Water Safety, Blood Bourne Pathogens, FL Tech Respirator SKILLS Microsoft Office, C++, Lab VIEW, Eagle, MP Lab EXTRACURRICULAR ACTIVITIES Secretary, Order of Omega Honor Society (Fall 2007 – Present)

Keep minutes of meetings Membership/ Recruitment Vice President, National Panhellenic Conference (Fall 2007 – Present)

Plan and execute formal recruitment for Panhellenic organizations on campus, our events including freshman move in, Sorority introductions

Train Rho Gammas, recruitment advisors Guide the revision of recruitment rules with Panhellenic organizations Attended South Eastern Panhellenic Conference to further develop leadership skills

Lady Guard, Alpha Phi International Fraternity – (Spring 2008 – Present) participating in intramural Flag Football, Soccer, Ultimate Frisbee promoting Alpha Phi ideals such as scholarship and philanthropy Previously Panhellenic Delegate (Spring 2007 – Spring 2008) Active Sister (Spring 2006 – Present)

Current Member, Marine Technology Society- (Spring 2006 –Present) Previously Historian (Spring 2006 –Spring 2007)

Current Member, Society of Women Engineers (Spring 2007 – Present) HONORS Florida Institute of Technology’s Deans List

Robotics/ Academic Scholarship Florida Bright Futures Medallion Scholarship

59

Appendix A.6 Resume – Michael Plasker

5466 Serviceberry St. Centreville, VA 20120

Phone 703-585-4695 E-mail jplasker@fit.edu

Michael Plasker

Education Florida Institute of Technology 2005 – Present Melbourne, Florida Degree in progress: BS Ocean Engineering

Four semesters undergraduate studies including C++ programming and introductory engineering courses such as Physics, Chemistry, Statics, Dynamics, Thermodynamics and Materials

Thomas Jefferson High School for Science & Technology 2001 – 2005 Alexandria, Virginia

Electives included JAVA programming, Marine Biology and an Oceanography Tech-Lab

Work Experience

Ocean Technology Group (University of Hawaii) Summer 2007 Honolulu, Hawaii Supervisor: Dr. Bruce Applegate

Worked as a shipboard technician on the RV Kilo Moana. Duties included deck operations, over the side operations, sonar operations and overseeing the general safety of the science party.

United States Geological Survey Summer 2006 Reston, Virginia Research Advisor: Michael P. Ryan

Three months of volunteer work modeling magma flows, including data analysis using Excel and modifying and running related FORTRAN programs. Taught myself the FORTRAN programming language for this project.

Interests Underwater Remotely Operated Vehicles (ROVs) Florida Tech Ultimate Frisbee Team (2005)

Activities Marine Advanced Technology Education (MATE) National ROV

Competition, NASA Space Center Houston, Texas (2005) High School Marching Band (2001-2005) Marching Band Leadership (2003-2005) Competitive High School Ultimate Frisbee Team (Spring 2005) Competitive Archery (1999-2005)

60

Appendix A.7 Resume – Jeffrey Pollard

Jeffrey Pollard FIT Box 6577 11940 Appaloosa Run E Melbourne, FL 32901 Raleigh, NC, 27613 (919)-608-9703 (919)-847-0931 jpollard@fit.edu Objective: Career in Ocean Instrumentation or ROVs/AUVs Education: Bachelor of Engineering, Ocean Engineering Florida Institute of Technology, Melbourne, FL Currently a Junior with 83 credits completed or in completion and a current GPA of 3.87 High School Diploma 2006 Trinity Academy of Raleigh, Raleigh, NC Graduated with Honors - 3.9 GPA Work Experience: Head of Construction, Heartbandit Productions, Raleigh, NC 2005-2007 Designed and constructed stages and sets for a performing arts group 2004-2005 Shift Manager, Carvel Ice Cream, Raleigh, NC Duties included, general cleaning of facilities, organizing inventory, making product, counting the register, and locking up the business in the evening. Volunteer Experience: Boy Scouts of America Eagle Scout Project, Raleigh, NC Organized and scheduled construction of six picnic tables as well as delivery Coalition for the Homeless, Orlando, FL Worked on grant research and other administrative tasks as well as facility management. Skills: Familiar with CADD packages Prosurf 3, Pro Engineer, and ANSYS Activities: Phi Eta Sigma Honor Society 2007 - current Intervarsity Christian Fellowship, Florida Tech chapter - 2006 - 2008 Boy Scouts of America, Eagle Scout, 1998-2006

61

Appendix A.8 Bill of Materials

62

Appendix A.9 Basic Code Topside

'******************Amanda - OE - "Joycontrol1"******************** DEFINE OSC 4 DEFINE ADC_BITS 10 ' set to ten bits DEFINE ADC_CLOCK 3 DEFINE ADC_SAMPLEUS 50 '.......................CONFIGURE LCD DISPLAY.......................... DEFINE LCD_DREG PORTB'..... set data port DEFINE LCD_DBIT 4'......... set starting data bit DEFINE LCD_RSREG PORTB'.... set rs port DEFINE LCD_RSBIT 3'........ set rs bit - pin 24 DEFINE LCD_EREG PORTB'..... set en port DEFINE LCD_EBIT 2'......... set en bit - pin 23 DEFINE LCD_BITS 4'......... set LCD buss size - 4 or 8 bits DEFINE LCD_LINES 4'........ set number of lines on LCD DEFINE LCD_COMMANDUS 2000'.. set command delay time in us DEFINE LCD_DATAUS 100'...... set data delay time LCDOut $fe, 1 'clear LCD adcon1.7=1 TRISA=%111111 TRISB=0 TRISC=0 ch1 VAR WORD ch2 VAR WORD ch3 VAR WORD ch4 VAR WORD ch5 VAR WORD

63

Appendix A.9 Basic Code Topside Cont. ch6 VAR WORD M1spd VAR WORD M2spd VAR WORD calcspd VAR WORD M1D VAR BIT m2D VAR BIT Start: ADCIN 0, ch1' pin8 forward/reverse numeric (front-back) ADCIN 1, ch2' pin7 forward/reverse (side-side) ADCIN 2, ch3' pin6 ADCIN 3, ch4' pin5 ADCIN 5, ch5' pin9 - with RCO low High PORTC.0' RCO ADCIN 5, ch6' pin10 - with RCO high Low PORTC.0 Pause 10 'Check if in Center IF ch1>500 AND ch1<520 Then ' joystick in center M1spd = 0 M2spd = 0 EndIF IF ch2 > 500 AND ch2 < 520 Then m1spd = 0 m2spd = 0 EndIF

64

Appendix A.9 Basic Code Topside Cont. 'Rotate on Axis IF ch1>500 AND ch1<520 AND ch2 > 520 Then m1spd= (ch2-520) m2spd= m1spd m1D=1:m2d=0 EndIF IF ch1>500 AND ch1<520 AND ch2 < 500 Then m1spd= (500-ch2) m2spd= m1spd m1D=0:m2d=1 EndIF 'Moving Forward IF ch1 > 520 Then ' steer motors forward M1spd = ch1-520 M2spd = ch1-520 M1D=1:M2D=1 ' direction EndIF 'Moving Reverse IF ch1 < 500 Then ' steer motors reverse M1spd = 500-ch1 M2spd = 500-ch1 M1D=0:M2D=0'direction EndIF

65

Appendix A.9 Basic Code Topside Cont 'Turning while moving IF ch1 > 520 OR ch1 < 500 AND ch2 < 500 Then calcspd = 500-ch2 IF m1spd < calcspd Then m1spd = 0 Else M1spd= M1spd - (500 - ch2) EndIF EndIF IF ch1 > 520 OR ch1 < 500 AND ch2 > 520 Then calcspd = ch2-520 IF m2spd < calcspd Then m2spd = 0 Else M2spd= M2spd - (ch2 - 520) EndIF EndIF display: LCDOut $fe,$80," It Works :) "' print 1st line LCDOut $fe,$C0,"ch1= ",DEC4 ch1," ch2= ", DEC4 ch2 ' print 2nd line LCDOut $fe,$94,"m1= ",DEC4 m1spd, " m2 =",DEC4 m2spd ' print 3rd line LCDOut $fe,$D4,"M1D =",DEC1 M1D," M2D= ",DEC1 m2D'print 4th line Pause 100 GoTo start

66

Appendix A.10 Hour Charts Week 4 through End

Amy Jeff Mike Kelley Amanda Week 4 26-May 3 2 3 4 27-May 2 2 3 3 2 28-May 4 2 2 3 5 29-May 2 2 2 3 3 30-May 2 2 2 1 2

Total 13 10 12 10 16 Week 5 31-May Cruise Cruise Cruise Cruise Cruise

1-Jun Cruise Cruise Cruise Cruise Cruise 2-Jun Cruise Cruise Cruise Cruise Cruise 3-Jun Cruise Cruise Cruise Cruise Cruise 4-Jun Cruise Cruise Cruise Cruise Cruise 5-Jun 0 1.5 2 0 3 6-Jun 3 1.5 5 3 4

Total 3 3 7 3 7 Week 6

7-Jun Saturday Saturday Saturday Saturday Saturday 8-Jun Sunday Sunday Sunday 3 Sunday 9-Jun 2.5 3 4 3

10-Jun 3 3 3.5 4 11-Jun 3.5 3 4 5 12-Jun 3 2 4 6 13-Jun 1.5

Total 0 12 11 18.5 18 Week 7

14-Jun Saturday Saturday Saturday Saturday Saturday 15-Jun Sunday Sunday Sunday Sunday Sunday 16-Jun for Week 3 5 2 3 17-Jun for Week 3 3 2 18-Jun for Week 2.5 4 2 19-Jun for Week 3 4 5 20-Jun 15.5 1.5 4 3

Total 15.5 13 5 17 15 Week 8

21-Jun Saturday Saturday Saturday Saturday Saturday 22-Jun Sunday Sunday Sunday Sunday Sunday 23-Jun 8 2.5 2 3 4 24-Jun 3 4.5 3 4 25-Jun 3 1 3 5 26-Jun 3 1.5 3 3 27-Jun 7 2.25 3.5 3 7

Total 13.75 12.5 15 23

67

Week 9

Amy Jeff Mike Kelley Amanda 28-Jun Saturday Saturday Saturday Saturday Saturday 29-Jun Sunday Sunday Sunday Sunday Sunday 30-Jun 4 1 5

1-Jul 4 0 6 2-Jul 5 8 10 3-Jul 7 8.5 5 4-Jul 2.5 0 7

Total 22.5 17.5 29 33 Week 10

5-Jul Saturday Saturday Saturday Saturday Saturday 6-Jul Sunday Sunday Sunday Sunday Sunday 7-Jul 7 8 8-Jul 5 7 9-Jul 8.5 6

10-Jul 0 9 11-Jul 9 9

Total 38.5 30 29.5 37 39 Week11 Week11

68

Appendix A.11 Hour Chart from beginning