Technical Report - the Marine Advanced Technology Education ...

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4 1. BUDGET AND FINANCIAL STATEMENT Table 1: Total cost of materials and travel to competition. ITEM DONATIONS EXPENDITURES ($CAD) ($CAD) Polycarbonate electronics can 250.00 Electronics housing 250.00 Styrofoam 43.00 Fiberglass and epoxy 270.00 Hardware (fasteners, drill bits, etc.) 500.00 Inuktun thrusters (6 x $ 2000) 12,000.00 48V Maxon motors (6 x$516) 3100.00 Fiber-optic tether - LeoniElocab 1200.00 Cameras (3 x $1500) 4500.00 Analog input board 150.00 Servo controller board 50.00 Fiber-optic interface board – Focal 3500.00 Technologies - Moog Lexan polycarbonate sheet 250.00 Printed Circuit Board production 200.00 Pulse width modulators (6 x $250) 1500.00 Misc. electronics components 300.00 Pressure Sensor – Keller America 575.00 Digital Compass 300.00 SubConn Connectors 800.00 Group airfare (15 people x $480) 7200.00 Accommodations, meals, ground 13,050.00 transportation (15 people x $870) TOTAL $22,575.00 $27,413.00 Table 2:Contributions to Eastern Edge Robotics. CONTRIBUTORS VALUE ($CAD) Faculty of Engineering, Memorial University 10,000.00 Marine Institute 5000.00 Department of Science, Memorial University 3000.00 Summer Robotics Camps 3413.00 Individual contributions (12 people @ $500.00 each) 6,000.00 Donated materials 22,575.00 TOTAL $49,988.00
5 2. DESIGN RATIONALE 2.1 Structural Frame The main structural components of Chimaera are two vertical H-framed skids, two buoyancy pontoons, and a Lexan TM polycarbonate sheet covering the top (Figure 2). These components were all designed using SolidWorks TM 3-D CAD to allow for sufficient buoyancy spacing for all the required tools (Figure 3). The pontoons were milled from styrofoam using a Computer Numerical Control (CNC) router. The team then laid up three layers of fiberglass around the styrofoam until it was uniform and structurally sound. This was performed in a boat-building workshop at the Marine Institute specifically designed to allow fiberglass work without exposure to fumes to ensure safety of team members. A vertical thruster is located in a 10.16cm (4”) ABS tube in the center of each of these pontoons. The H-frames were machined from 0.953cm (3/8") Lexan TM polycarbonate. The H-frame design was chosen because a large portion of its cross section is located far away from the neutral axis, thus providing large values of moment of inertia (I) and elastic section modulus (S). Since the maximum stress (σ m ) is inversely proportional to S, it is practical for these beams to be designed with a large S value according to the following relationship: m = M Where: σ m = maximum stress S M = first moment of the cross section about the neutral axis S = elastic section modulus The H-Frame allows the chassis to be structurally sound, relatively light, and hydrodynamic. Two horizontally mounted thrusters are attached to the outside of each H-frame as well as the buoyancy pontoons on either side and joined transversely by a 0.477cm (3/16”) Lexan TM sheet on top. This sheet supports the ROV transversely and is attached to the top of each buoyancy pontoon and H-frame. It also creates a strong platform on which multiple tools and equipment can be attached. The holes over the vertical thrusters were milled in the shape of honeycombs, which both protects the thrusters and allows for a more laminar flow of water. Figure 2. ROV Chimaera. Figure 3. Solidworks diagram of Chimaera. 2.2 Propulsion Chimaera is driven by six 90 W Inuktun TM thrusters, each with a depth rating of 300m (Figure 4). The thrusters have standard EO connectors and are liquid filled with Enviro-Rite fluid for pressure compensation. Due to wear of brushes in the original motors, new compatible
Page 1 and 2: TECHNICAL REPORT Eastern Edge Robot
Page 3: 3 TABLE OF CONTENTS ABSTRACT ......
Page 7 and 8: 7 • Thruster control, to send upd
Page 9 and 10: 9 on a standard TV video screen via
Page 11 and 12: 11 5. PAYLOAD TOOLS 5.1 Tool Motors
Page 13 and 14: 13 reduce the size of the tool, the
Page 15 and 16: 15 Alternatively, the team consider
Page 17 and 18: 17 Designing our PCBs required us t
Page 19 and 20: 19 towards becoming an ROV technici
Page 21 and 22: 21 APPENDIX A - FLOW ANALYSIS Compu
Page 23 and 24: 23 Rearranged for drag coefficient:
Page 25 and 26: Figure B2. Schematic of submarine e
Page 27 and 28: 27 APPENDIX C - PROGRAMMING FLOWCHA

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