Fury

Tech.v6.

.
Technical Report
..

PennsylvaniaRegionalChallenge
May7,2016
VillanovaUniversity

MATEROV2016
RangerClass

RoboticsClub
HighTechnologyHighSchool
765NewmanSpringsRd.
Lincroft,NJ07738

___________________________________________

Linda Grunthaner
,
Advisor

Tien-Sheng Wang
,
PresidentofElectronics
Matthew Ramina
,
VicePresidentofElectronics
Christine Ku
,
PresidentofMechanics
Roger Chen
,
VicePresidentofMechanics
Raymond Tse
,
Secretary
Victoria Lin
,
AssistantSecretary
Eunice Cheng
,
Treasurer

AdithyaParamasivam
JeanPaulCalin
AlisaLai
KaishawnWilliams
AliceLai
KarlRoush
AlissaTsai
KellyHughes
BryanYao
MayaRavichandran
ChenHaoLiu
NickCiulla
DarrenSchachter
OrionKelly
EmilyLiu
PatrickMeng
EvanCiok
SanjayGoyal
JaredAllanigue
SreyaDas
JadenWeiss

______________________________________________________________________

Table of Contents
1

Abstract

Design Rationale
2.1
Structure (Frame)
2.2
Underwater Electronics Tube
2.3
Propulsion (Motors)
2.4
Control System
2.5
Ballast System
2.6
Camera Sensors
2.7
Payload Tools
2.7.1 Pulley Claw
2.7.2 Temperature Sensor
2.7.3 GY-88.

4
4
4
5
7
8
10
11
11
12
13

Safety Features and Evaluation

3.1
Safety Evaluation.
3.2
Safety Features.
3.3
Safety Checklists..

13
13
13
14

Description of a Challenge

15

Troubleshooting

15

Lessons Learned and Skills Gained

16

Future Improvements

17

Reflections / Experiences
8.1
Underclassman
8.2
Upperclassman

17
17
17

Teamwork Evaluation and Gantt Chart

18

10

Acknowledgements

19

11

References

19

12

Budget and Expense Sheet

19

13

System Integration Diagram

22

14

Block Diagram/Flow Chart

23

15

Electrical Schematics

24

16

CAD Drawings

25

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1 Abstract
High Technology High Schools FuryTech.v6 designed and produced a remotely-operated
vehicle (ROV) capable of completing the MATE Ranger challenges. Every year, FuryTech
is is entirely student run. The students design, build, and raise its own funds without any
commercial help. This year, FuryTech.v6 produced a brand-new ROV with many changes
that improved upon last years version. The new design features a waterproof underwater
electronics system. It consists of an easy-to-open end cap and cylinder that is waterproofed
by an o-ring and nuts. The frame, inspired by TIE fighters from the prolific Star Wars
movies, consist of two wings of propylene that encompasses the electronics. For extra
strength, a series of yellow PVC tubes are intertwined with the wings. Not only do they
provide structure, but the tubes also provide mounting points for all end effectors. The
robot has eight motors; the first four are for vertical motion, while the last four are for
horizontal motion. The claw consists of three servo motors, each for a different degree of
motion. Three cameras trained on the claw, back, and seafloor allow for operation of the
claw and drive. For distance measurement, the electronics cylinder features an
accelerometer and gyroscope. Data are sent back topside and calculated for position and
distance traveled. The new ROV design also incorporates a portable case containing the
topside electronics, with intuitive controls for the robot on a standard Xbox controller. All
in all, FuryTech.v6 is proud to present the ROV as a testament to the teams synergy, skills,
and resourcefulness.

Figure 1: Top view of completed ROV, FuryTech.v6 in testing pool

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2 Design Rationale
2.1

Structure (Frame)

The team decided to completely redesign the frame to avoid last years cumbersome size. The ROV was first
modeled in Inventor CAD to quickly and accurately visualize its design. The final design was inspired by TIE
fighters, which feature two wings that serve as a sandwich that secures the electrical tube. The wings are
shaped in a teardrop shape to streamline the robots motion underwater. The material that was chosen needed to
be produced in sheets, and able to be cut accurately. Two
thick polypropylene sheets were chosen for those
qualities, along with its water resistance, strength, and affordability. Two large Ds, one 5 diameter hole, four
holes, and four holes were cut into each wing with a CNC machine that the team programmed. To
further ensure proper distance from wing to wing, another length of polypropylene was cut and attached to the
bottom with four ninety degree angle brackets.

Figure 2 : Finished bare frame

To add structure to the ROV, a polyvinyl chloride (PVC) frame was also incorporated with the wings. PVC
was chosen for its water resistance, strength, and affordability, as well as ease of construction and stock parts.
The dimensions of the pipes and connectors were carefully calculated to ensure the structural integrity of the
ROV. Because of these careful calculations, each pipe was cut to the length in which they would fit snugly into
their connectors and still produce a rigid frame. To ensure a permanent bond, PVC cement was used to glue
each connection. PVC lengths were carefully calculated to extend 7 cm past the wings, serving as a guard for the
electrical wires coming out of the tube. In order to ensure that the frame could fill up with water and drain easily,
small holes were intentionally drilled into the topside and bottomside of the pipes without compromising
structure. Filling the pipes with water is easier to accomplish than trying to make it watertight and helps the
ROV with balancing issues as well as movement issues.

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2.2

Underwater Electronics Tube

This year, the team decided to move electronics to bottom-side for multiple reasons. Last years tether was
extremely heavy from all the communication wires that ran from topside to bottomside. Not only that, but data
often got lost from such a long cable. Camera signals were easily lost, and driver control was slow.
Specifically, the team knew that the casing had to be waterproof beyond the maximum depth of the pool (15ft),
yet also easily removable should a problem occur. The final design was a 5 diameter acrylic cylinder with two
end caps. The end caps are also made of thick acrylic squares cut from a CNC machine to fit the outer
diameter of the cylinder. One end is permanently waterproofed with aquarium sealant while the other is sealed
with an o-ring inside the cap, along with four nuts. Four , 14 long threaded rods run from each corner of the
end cap to the other. When the nuts and washers are tightened, the caps compress the o-ring around the edge,
and seal off any pathways for air to escape and water to enter. When tightening, silicon grease is also added in
combination with the o-ring.

Figure 3: Bare electronic tube

Figure 4: Connector end cap and o-ring

The most dangerous part of the end caps were the wire connections. In order to ensure they were completely
sealed from the water, the team used three water proof connectors that were also filled with epoxy resin. The
epoxy resin fills in more cracks than aquarium sealant because it is much more liquidy during application. The
resin hardens to a near unbreakable block that will not let water through, let alone break, thereby mummifying
the wires.

2.3

Propulsion (Motors)

Figure 5: Bare motor thruster

Figure 6: CAD Drawing of PVC Attachment

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To ensure that the motors used were completely waterproof, modified bilge pumps were implemented for the
ROV. Bilge pumps were chosen because they are brushless, therefore inherently waterproof. The Rule 800 GPH
bilge pumpers were chosen after many trials to determine the bilge pump with the most efficient
thrust-per-amperage-drawn. The casing for the bilge pump motors were removed along with the impeller. After
testing propellers with varying amounts of blades and blade sizes, the three-blade 60 mm diameter plastic model
boat propellers were chosen for maximum thrust. These were then installed on all 8 drive bilge pump motors on
the ROV with a bilge shaft adapter. The adapter is also a screw that runs through the center of the propeller,
which is then secured with a washer and nut.

Figure 7: CAD isometric view of motor

Figure 8: CAD drawing of motor

An additional motor mount that doubled as a thruster was student designed on Inventor CAD and 3D printed.
One end had two semi circles that could fit around the motor. To ensure a secure fit, a long screw and nut were
tightened on both sides of the attachment. On the other end, the the enclosure widens to form a thruster to
direct the propeller forces and protect it. Because this design had to be printed in two parts, an aluminum
bracket was glued in place with two ton epoxy for extra strength. To make the motor safe, a chicken wire mesh
was placed at the end of each motor and secured with white electrical tape. The meshing protects the motor from
debris when in use underwater, and also keeps hands away from the propellers. The second part of the mount is
the PVC attachment. Like the thruster, it consists of two semi-circles that clamp around the PVC and are
tightened with screws and nuts on the side. The flat section with 8 holes line up with the 8 holes in the thruster
mount and can be secured with small screws and nuts. Because of this design, motors can be mounted virtually
anywhere there is PVC on the frame easily and tightly.

Figure 9: Vertical motor with 3 blades

Figure 10: Horizontal motors with 3 blades

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The motors had to be carefully placed. If they were not symmetrical, motion of the ROV would be chaotic and
non-uniform, making drive nearly impossible as the ROV flips around in water. Additionally. the motors were
placed on the outer edges to make turning easier. The further away from the center of mass, the more torque the
motors have to induce rotation.

2.4

Control System

Control input starts with the entry of commands through an Xbox-360 Controller. An intuitive controller
mapping was designed to facilitate easy, individual control of either side of the ROV. The left and right analog
sticks correspond to left- and right-side motor control, while two digital buttons on the face of the controller
control the rise and fall of the ROV along the Z-axis. Digital buttons on the sides of the controller equate to
control of the robots payload claw. Control commands are sent over a USB interface to a laptop running a
custom Python-based program. The commands are processed and formulated into an easily parsable string that
is read by the Arduino Nano.

Figure 11: Bottomside electronics in casing

The string of motor commands is sent over a USB Serial connection to the Nano. Further processing is done to
minimize the amount of data sent over the tether and allow for finer, more responsive control. The data is sent
using a RS485 serial interface over a twisted-pair bundle of two power extension cords with XLR microphone
plugs at the ends. The data is then decoded by a second RS485 module on the bottomside and is interpreted by
an Arduino Mega 2560. A TLC5940NT chip that serves as an interface is the intermediate between the Mega and
the motors. This driver facilitates only a few digital output pins on the Mega to control 16 pulse-width
modulation (PWM) pins with 12-bit resolution. Two pins are used for every motor
one in the forward
direction and one in the reverse. Eight pairs of pins control eight motors by six NMIH-0050 H-bridges and one
L298 dual H-bridge. These allow analog control of motors in both forward and reverse directions by reversing
the polarity of the current running through each motor. In all, they allow for precise and dexterous control of
the robots drive. Servo commands are relayed in the same manner to control three servo motors directly from
the bottomside Arduino Mega.

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Figure 12: Open topside electronics case

The topside electronic system also manages the electrical safety of the entire ROV. Power to the robot first runs
through a 25 amp inline fuse, an additional fuse, followed by a master circuit breaker, voltmeter, and ammeter
before becoming available for use by the robot. This allows for a quick and easy shut-off in the event of an
emergency and allows the poolside team to monitor electricity consumption to quickly identify an abnormality.
A large filtering capacitor is also used inline to mitigate any problems regarding electrical interference, and to
buffer the large power draw from the H-bridges. Finally, heatsinks are used around the MOSFET-based
H-bridges to reduce the dangerous effects of Joule heating.
One small bundle of wires is all that is required for the ROVs tether
. The power and motor commands for the
whole system are sent via a twisted-pair of two XLR microphone cables. In addition, the camera lines are
bundled together with these cables to send power and video feed. The cameras receive power directly from
barrel-jack connectors made available on the topside, and they connect to RCA connections repurposed from a
DVD player, to be connected to the relay switchboard (described in 2.6 Camera Sensors). The weight of the
tether, albeit light, is accounted for. Instead of trying to perfectly make the tether buoyant, it is instead used
efficiently as a counterbalance for the front heavy ROV.

Figure 13: End of tether connections

Figure 14: Ports installed on topside electronics case

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2.5

Ballast System

In order to keep the ROV neutrally buoyant, the team utilized a ballast system. Neutral buoyancy was desired as
this allows the ROV to remain stationary when no control are being given to it. In addition to neutral buoyancy,
the team aimed to make sure the ROV remained level in the water, despite the slightly skewed distribution of
weight caused by the addition of end effectors. The ballast was incorporated in the form of the acrylic
electronics container itself as well as blocks of closed cell foam. Counterweights were added as well, attached to
the bottom of the ROV.

Figure 15: Ballast system at top of ROV (pale, rectangular blocks of closed cell foam)
The primary component in the ballast system is the acrylic tube used to house the bottomside electronics. The
tube was sealed with aquarium sealant on one end and with an o-ring and four nuts on the other. As a result, the
containment became both waterproof and airtight, allowing the tube itself to act as a ballast. To add further
ballast, rectangular blocks of highly buoyant closed cell foam were attached to the top of the ROV. An extra
piece was also added to the left side of the ROV in order to counteract the unequal distribution of weight caused
by the placement of the temperature sensor.

Figure 16: Counterweight box

Figure 17: Container for counterweight box

In order to ensure that the ROV did not have too much ballast incorporated, holes were drilled at specific
locations in the PVC. This prevented the PVC from being waterproof and airtight as well, which would add
undesired ballast to the ROV. The holes were drilled all the way through the PCV, in numerous locations, to
allow water to quickly and easily enter and exit. Finally, a counterweight box was added to the bottom of the

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ROV. The counterweights were incorporated to add buoyancy in the case that there was too much ballast and
the ROV became positively buoyant.
The vertical positioning of the weights and flotation devices were also very important. Because buoyant forces
want to go up and weight wants to go down, the robot will automatically straighten out. If the position were
inverted, then the opposite direction of the forces are likely to make the robot flip. The further away from the
center of mass is also very important, as the forces will provide more torque to keep the robot in the correct
position. If the robot unexpectedly tilts, a higher torque will allow for faster recovery times.

2.6

Camera Sensors

Figure 18: One of three cameras mounted to ROV. This is for claw and forward movement
An integrated vision system was designed for the robot to help the driver most effectively operate and drive the
ROV. In total, three cameras are mounted on the frame of the robot, each positioned for a specific purpose: one
camera is devoted to the payload claw and forwards drive, one pointed downwards to the ocean floor, and one
camera directed backwards for more precise control.
The first concern mounting to the frame of the robot was minimized by the use of PVC as the frame material.
The second concern amount of power drawn upon was slightly more problematic, as there were numerous
cameras that needed to be used. Therefore, when selecting cameras, energy-efficiency was one of the main
characteristics considered. In regards to concern three the field of view the design team had to take into
account the angle of refraction the view would experience underneath water; the field of view would
undoubtedly shrink, despite the large angle of view advertised above water. With this in mind, the team selected
fisheye lenses to counteract the refraction and have a wider field of view. Sheaths were designed and printed by
the team to hold the lens in place and keep the image stable. The last area of concern waterproof and
submersibility was solved by using cameras that were inherently designed for underwater use and could be
integrated into the robotic system without difficulty or fear of water intrusion. The team used the same cameras
that were used last year. The selected model was the SLC-137C camera by Security Labs. One of the benefits of
this camera was its cabling. The original plan was to wire the cameras into the main box in the ROV for power
and feed the video through the tether. This camera instead had an external power connector, letting the team
bypass the box entirely; instead, the cable was simply externally bundled with the main tether.

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Figure 19: CAD drawing for camera and fisheye lens with orange sheath
In order to make most efficient use of the three-camera system, an electronic camera switchboard was
constructed as an addition to the companys control system. The video feeds from each camera fed into this
switchboard, which selected one feed to be sent to the video output via a system of relays and switches. An
SPDT 4-relay board was used to switch between the four cameras. Each of the four camera RCA plugs contains
two connectors: a common ground and a signal wire. All common grounds were connected to the video output,
while the relay board switched the signal wires. Each of the four relays had both an active and inactive state,
where its respective camera was connected and disconnected, respectively, from the video output. To ensure
that only one camera would be switched on at a time, the Arduino code was designed in such a manner that it
would switch all relays to the inactive state except for a single relay, connected to the desired camera, set to the
active state. Power to each camera is also managed in this manner, using a second 4-relay board to selectively
power one camera at a time. This helps to reduce the power load, so that more power may be reserved for
motors.
In the past, the video output was connected directly to a poolside monitor provided by the team. However, this
method introduced a significant amount of bulk and inconvenience to the overall system. Having the external
monitor necessitated carrying an extra, bulky device poolside; acquiring and providing power to the external
monitor; and distributing wires among a larger number of poolside components. In order to remove the need to
have an external monitor, the video feed is instead viewed via a USB capture card connected to the poolside
laptop. Since this computer is already supporting the robot control system and receiving and displaying
controller commands, the use of a capture card allows the laptop to serve an additional purpose as the output
screen of the robot cameras. The capture card system also allows for post-processing of video to increase contrast
and readability, and to overlay positional and motion data onto the video feed.

2.7 Payload Tools

2.7.1 Three Degree Freedom Claw
In order to give the ROV versatility, a claw with three degrees of freedom was implemented.
The claw allows the ROV to be capable of accomplishing numerous tasks, such as sample collection, underwater
maintenance, and underwater searching. By providing the claw with three degrees of freedom, the team ensured
that the claw would have the necessary maneuverability.

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Figure 20: CAD drawing of 3 degree claw

Figure 21: 3 Degree Claw

The claw incorporated in the ROV was constructed almost entirely out of polypropylene. The claw itself is
composed of three extensions, two of which are parallel to each other. The third extension has the ability to
move up and down. The extensions were designed and machined by team members. By controlling the third
extension, the driver of the ROV has the capability of gripping objects of many different sizes. The two parallel
extensions are secured into a base plate, which was also designed and machined by team members. The plate was
cut out of a sheet of polypropylene using a bandsaw. Two slots were then added to the base plate through a
CNC machine programmed by the company.
The third extension, the one controlled by the driver, is attached to a HiTec 32646W HS-646WP Waterproof
Analog Servo. This servo provided gripping motion of the claw. The extension was attached using both
mechanical and chemical bonds, through the use of screws and epoxy resin. This servo was attached to the base
plate, which was then mounted onto another servo. This second servo provided the rolling, wrist-like motion for
the claw. This appendage was then secured to a third servo, which was used to provide up and down motion
along the pitch axis. This last servo was then secured to a final piece of polypropylene, which was then secured
to the front of the ROV itself.

2.7.2 Temperature Probe

Figure 22: Temperature Probe

Temperature measurement is an important ability for any ROV to have. Incorporating a temperature
measurement system in an ROV allows data to be collected for locations that might otherwise be inaccessible. In

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order to measure temperature, the team utilized a simple temperature probe. It is zip tied to a length of PVC in a
T- joint. The T-joint was cut in half and hose clamped onto the existing pipe.
The team used a DROK

Waterproof Temperature Sensor DS18B20. PVC was used to mount the temperature
probe. The PVC was secured to the front right corner of the ROV using hose clamps. The probe itself was then
secured to the PVC with zip ties. The probe provides readings of the temperature in the immediately
surrounding areas, which are available to the driver of the ROV upon sending a request command.

2.7.3 GY-88
The GY-88 module provides the robot with high precision measurements for several types of sensor inputs. It
combines an MPU6050, HMC5883L, and BMP085 to provide pressure sensing, gyroscope data, acceleration data,
and compass data. This sensor allows for distance measuring via acceleration, and possibly gyro stabilization in
14
the future. The measurements from this accelerometer are precise to 1/2
Earth gravities.

3 Safety Features and Evaluation

3.1 Safety Evaluation
As current STEM students and aspiring future engineers, the club members fully recognize the importance of
incorporating safety features into all of its projects. The philosophy of the High Technology High School
Robotics Club is that safety is of the utmost importance, and under no circumstances should any member
neglect to follow the rigorous safety procedures currently in place. Each component of the ROV was designed to
be fully functional while being mindful of all safety regulations. Thus the ROV contains several safety features,
including white indicator tape surrounding the modified bilge pump motors, non standard power connectors to
prevent accidental use with household electrical outlets, fully secured wires, and motors that are mounted to the
interior of the frame to prevent injury. Furthermore, the teams senior officers worked hard to highlight the
importance of safety during the design process and especially during construction periods. Students working in
the tech lab were first trained to operate different hand or power tools before they were allowed in the room. All
students also agreed to abide by all safety rules of the lab, such as wearing safety goggles and appropriate
clothing at all times. In this way, the team was able to maintain a safe and efficient environment.

3.2 Safety Features

Frame:

Bright yellow coloring for easy visibility underwater

No loose components
No sharp edges
Motors:

3D printed in yellow for high visibility

Grille made out of chicken-wire fencing to prevent debris or free floating objects from getting caught
Tether:

Weatherproof cable for data and power

Audio connector plugs that clip on so that they dont come out by accident
All ports are labeled
Tether is bundled inside a cable organiser so it becomes one manageable cable
Tether is permanently secured to bottomside tube using epoxy resin to seal
Power and ground are run through two cables instead of one meaning:
Double the gauging on cable to handle more current
Cables can be twisted so theres no magnetic interference

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Topside Electronics:

25A 12V fuse less than 5 inches from power, and 25A 12V fuse inside box
Circuit breaker after fuse
Ammeter that measures current draw
Digital voltmeter allows for easy monitoring
Large filtration capacitor to control any spikes
Flameproof compared to previous years
Electronics can be closed when testing in the rain
Silica gel desiccant inside the box to absorb moisture
All wiring is properly gauged to handle the proper current draw, and zip tied for organization
All connectors going to/from topside are all disconnectable but also very secure

Bottomside:

All components are soldered or screwed securely with no loose components

Wiring gauge is maintained so that the right power draw can be handled
All components that could possibly heat up have heatsinks on them
Silica gel desiccant inside tube to absorb moisture
LED lights from modules are intentionally faced outward so the team can check status through the
clear
tube.
A clear tube was chosen so the internal activity can be monitored
One side of the tube is permanently sealed with aquarium sealant
Other side is a removable compression seal with an o-ring and nuts to compress the tube
Silicon grease added each time the tube is closed to supplement the o-ring
The GY88 module has an internal barometer and temperature sensor.
The barometer senses any pressure changes in the tube should it breach
The temperature sensor detects internal overheating

3.3 Safety Checklists

Company Safety Checklist:
All members behaving appropriately: no horseplay, no food/drink in lab, no running
All members wearing safety goggles, closed-toed shoes, long pants
All members with long hair tied back and secured
All members fully informed about emergency procedures
Only members who have received safety clearance from Advisor Ms. Grunthaner permitted to use tools
First-aid kit within reach, in case of injury
Physical Safety Checklist:
All sharp edges and objects covered to prevent injury to hands of any operators or transporters of the
ROV
PVC frame firmly secured
White indicator tape secure around modified bilge pump motors
Motors are mounted to the interior of the frame to prevent injury
ROV transport carried out by at least 2 club members for safe handling
Electrical Safety Checklist:
25 Amp fuse present
No cracks in electronic casing
Nonstandard power connectors to prevent use with household electrical outlets
All wires secured, sealed, and not exposed in any way
Underwater wire connections sealed with solid epoxy
Construction of an SID as a reference and shared with members of the club

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Pre/During/Post Operation Checklist:
Environment is safe for operation: weather acceptable, launch platform stable and dry, no other hazards
present
Motor dry run
End effector testing (cameras, claw, thermometer)

4 Description of a Challenge
The primary challenge faced by the team was efficient communication. Coordinating each members schedule in
order to optimize the process and keep everybody up to date with the robot progress was challenging as team
members ranged in grade, skill level, and geographical location. The team approached this challenge by sending
out frequent emails and holding lunch time meetings to provide thorough updates on the teams progress and
next steps. These methods were helpful in eliminating the geographical factor. Underclassmen were also
encouraged to reach out to the more experienced members of the team so that the knowledge/experience gap
could be bridged. Through the lunchtime meetings, members who attended were able to catch up to speed and
then update their peers as well.
Regarding technical design, the team ran into several challenges, one of which was designing the distance
measurement system. The teams initial idea was to a fishfinder resonator, but making the circuitry oscillate at
the right frequency proved too difficult and time consuming. The next idea was to use a tape measure with a
hook that could attach to the PVC. A camera would be trained on the reading so the driver could read the
measurement. However, the tape measure was entirely too heavy to try and balance, and committing another
camera to this would not be efficient use the limited amount. In the end, the team decided to use an
accelerometer and physics equations. This would get rid of the troubles of balancing another end effector and
reduce risk of misreading a number underwater.

5 Troubleshooting

Figure 23: The combination of props built for MATE Ranger 2016 testing
Balancing an ROV takes a lot of trial-and-error, from debugging the on-board software to balancing the robot in
the water. This was the teams first year using RS485 for transmission of data, and one of the first years using
electronics, including the H-bridges, on the bottomside of the robot. In order to make sure each motor worked
properly, the team wrote a program to run each motor individually in a loop. Once it was determined that the

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acrylic tube would afford an airtight seal and the motors were operable, work had to be done to write the needed
software, refine the payload tools, and practice driving. Props were built by the team to simulate the challenge
and ensure that the pilot knows what to do when the team is on the clock. Instead of building each prop
exactly as presented, the team saved materials and time by designing props that combined various tasks together
when possible.

6 Lessons Learned and Skills Gained

One of the most important lessons the team learned was in the optimization and management of resources.
Throughout the course of the project, although all members contributed to the assembly of the prototype, there
were times when some members of the team were more idle than preferred. At other times, the team found that
some people had certain skill sets that were instrumental to the building of the project but were not always able
to meet with the team. As a result, certain builds took more time than originally intended. However, what the
team learned from all of this was how to best utilize the talents of all members of the team to produce a
high-quality final product. The team developed collaboration and time management skills and further improved
upon the ability to delegate tasks, all of which contributed to the overall success.
In addition, near the beginning of the year, the club officers realized that many of the newest and youngest
members of the club were lacking in more basic technical skills, such as how to safely manage and use the hand
and power tools in the lab. With the help of experienced members and under the supervision of club advisor,
Ms. Grunthaner, the club implemented an offshoot program to get all of the members certified in certain shop
tools. This program was called Build-a-Bot in which the team was divided into sub groups to develop their
own miniature robots to perform various functions. This resulted in a more productive team with better
technical skills and coding knowledge bestowed upon them.

7 Future Improvements
Though the team was able to achieve their objectives, the team also believes in constant innovation as there is
always room for more improvement. FuryTech is currently planning several improvements to the ROV design.
Currently, part of the electronics system is topside and and part is underwater. Though having part of the
electronics system within the ROV frame leads to less power loss through the tether, it adds to the overall bulk
of the ROV. By using lighter components, especially in the protective casing, the ROV could become lighter and
more agile. In addition, investing in a professional printed circuit board would significantly reduce wiring errors
and disconnections, improving overall efficiency. This solution could feasibly eliminate the need for the clunky
physical referencer. Another improvement is the use of lasers to measure distances. The current system of using
the accelerometer is inaccurate, as the tilting from ROV movement skews the forces perceived by the
accelerometer. Also, the program depends on the ROV moving at a constant acceleration in order to accurately
calculate distance, but it is difficult to guarantee the ROV is always accelerating uniformly. Adding features to
the code such as an auto-stabilization algorithm using the same accelerometer data would solve this problem. A
more user friendly UI would also help with quickly reading data.

8 Reflections / Experiences
8.1

Underclassman

As a freshman, when I joined the Robotics Club at the beginning of the year, I had little knowledge of robotics
and no experience building one. Even so, I was fortunate enough to participate in the High Technology High
School Robotics Club. With the guidance of the approachable upperclassmen, the opportunity to work on the
robot even though I was only a freshman, and by attending regular after-school meetings, I gained so much new
knowledge. I learned about the design process, how to write a technical report, and some of the issues that arise
when constructing an underwater robot. It was amazing to watch the upperclassmen apply the skills they had
learned so easily. They encouraged me to participate and contribute as much as I could. I helped write the

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technical report and construct various aspects of the robot. Since I had no prior experience building robots, I feel
that being able to make contributions was a great accomplishment. Challenges arose, but they were overcome,
and in the end, we were excited to see our robot moving and performing tasks in the water. Working with all of
the people on the 2016 FuryTech team was an amazing experience that I hope to repeat next year. I am very
excited to use my new knowledge in the Robotics Club next year.
-Kelly Hughes, Freshman

8.2

Upperclassman

Being a part of the High Technology Robotics Club has been a truly transformative experience. In these past
four years, this club has helped me grow from a timid freshman to a confident and resourceful senior. The
supportive and focused community of the Robotics Club encouraged me to delve deeper into both mechanics
and electronics, to learn the mechanisms behind the robots systems. My positive experience with robotics has
helped me realize my love for engineering design, electrical engineering, and computer programming. From the
start, I have been heavily involved in the challenging but rewarding process of building the robot. Each year, I
am able to grow more and more as both a person and as an engineer as I tackle the many obstacles that
accompany the construction of a complex robot. Through my involvement with the club, I have been able to
apply concepts from STEM classes like Principles of Engineering and AP Physics; manually calculating torque or
applying rules of fluid dynamics were enjoyable hands-on experiences for me. These experiences have given me
the confidence and curiosity to journey further into the field of engineering. In retrospect, working alongside
my fellow club members each year has been an incredibly rewarding and inspiring experience. I have learned
invaluable technical skills, but most importantly, I have formed strong bonds with club members and learned to
never give up despite seemingly impossible challenges. As I prepare to enter college and major in mechanical
engineering, I am confident the experience I have gained will be an invaluable asset.
-Raymond Tse, Senior

9 Teamwork Evaluation and Gantt Chart

The team was pleased with the environment of collaboration throughout the process as all members supported
one another in achieving this goal. As referenced in other areas of the report, senior officers divided the club
into various sub-teams to work on the frame, propulsion, each end effector, etc. Teams were expected to report
back to their upperclassmen leaders with weekly progress reports as well as communicate with members from
other sub-teams. E-mail chains were made for each individual sub-group which served as a forum for their
updates and questions.
To stay on schedule and work as efficiently as possible, the design team chose to construct a projected Gantt
chart detailing the important milestones and deadlines of the project. The Gantt included important events such
as Project Start, Mission Tasks Released, Assembly Begins, etc. while tasks were subdivided into certain
headings. The team then consulted this Gantt Chart and modified it throughout the duration of the project
dependent upon progress and other occurrences. Learning to use a Gantt chart enabled the team to develop time
management and teamwork skills that can be effectively applied to further engineering projects and endeavors.

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10 Acknowledgements
The High Technology High School FuryTech.v6 team would like to take the time to thank everyone who helped
with the development of the ROV, be it technical or moral support. The team would first like to thank MATE
and MATE Pennsylvania for making the competition possible and for the resources and support made available
to all of its competitors. The team would also like to thank Ms. Linda Grunthaner for her patience and advising
of this club.

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The team would like to thank the Weiss family and the
Yatvitskiy
family for their financial donation to the club.
Additionally, the team would like to acknowledge Smitteesez for printing club t-shirts, Mr. Aldo Ramina for
chaperoning the trip to the competition, and the parents of all members of the club for their support and
assistance with transportation.
The club would like to thank Mr. and Mrs. Meng for letting the team utilize their pool for testing and
troubleshooting purposes as well as Professor Jim Nickels of the Urban Coast Institute at Monmouth University
for letting the team use the pool and water tank facilities for testing. The club would like to thank Mr. Ulric
Gordon-Lewis for his machine shop and 3D printer accessibility.
The club would also like to thank Ms. Velda Morris and Ms. Jane White for serving as MATE Regional
Coordinator and Team Liaison, respectively.

11 References
Rigzone - How Do ROVs Work? RIGZONE - How Do ROVs Work? N.p., n.d. Web.
May 2016.

12 Budget and Expense Sheet

The team worked together with fundraising to purchase all necessary parts and materials for construction of the
robot. The list below reflects all of the items purchased during the 2015-2016 school year. The team would like to
thank Monmouth University, the Meng family, and the Weiss family for donating their services by providing a
pool for testing of the robot.

Table 1: ROV Components Sheet

Item

Source

Type of
Source

Description

Qty

Cost per
unit

Total
Cost

Polypropylene (PP) Sheet, Opaque

White, Standard Tolerance, ASTM
D4101-0112()

Small Parts

Bought

Sheet of polypropylene used

in the structure of the ROV.

$18.71

$37.42

Polypropylene (PP) Sheet, Opaque

White, Standard Tolerance, ASTM
D4101-0112 ()

Small Parts

Bought

Sheet of polypropylene used

in the structure of the ROV.

$15.54

$31.08

1/2 in. x 10 ft. PVC Sch. 40 Plain-End

Pipe

Home Depot

Bought

PVC pipes used in the

frame.

$1.93

$5.79

1/2 in. Furniture Grade PVC Tee in

White (10-Pack)

Home Depot

Bought

PVC T-joints used in the

frame.

$9.99

$29.97

1/2 in. Furniture Grade PVC 90-Degree

Elbow in White (10-Pack)

Home Depot

Bought

PVC elbow joints used in

the frame.

$9.00

$18.00

Ancor 764998 Marine Grade Electrical

Wire Seal (Round Cable, 18 to 10-Gauge,
3/8-Inch NPT)

Ancor

Bought

Used for underwater

connectors.

$10.99

$10.99

Ancor 765004 Marine Grade Electrical

Wire Seal (Round Cable, 1 to 3/0-Gauge,
3/4-Inch NPT, UV Black)

Ancor

Bought

Used for underwater

connections.

$14.88

$29.76

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Coleman Cable 02308 16/3 Vinyl
Outdoor Extension Cord, Orange,
50-Feet

Coleman
Cable

Bought

Used for tether.

$9.71

$19.42

Silver Fisheye Lens for Apple iPhone

Aduro

Bought

Used to enhance camera

view.

$2.28

$6.84

3 Wing 60 mm Diameter Propellers

Harbor
Models

Bought

Used in propulsion system.

$7.25

$29.00

Kootek 2-channel 5V Relay Module for

Arduino DSP AVR PIC ARM

Eachbid

Bought

Used in electronics.

$5.49

$10.98

HiTec 32646W HS-646WP Waterproof

Analog Servo (IP-67 Rated)

HiTec RCD

Bought

Underwater servomotors;
used for claw rotation.

$43.32

$129.96

Krylon 1816 Farm & Implement Paint, 12

oz, John Deere Yellow

Krylon

Bought

Used to paint frame for

increased visibility.

$6.79

$13.58

Techflex CCP1.00BK25 Flexo Clean Cut

1-Inch Braided Cable Sleeve, Black - 25
Feet

Techflex

Bought

Used for tether.

$26.01

$52.02

Silicon Grease

HTHS

Bought

Used in conjunction with

o-ring.

$7.99

$7.99

RioRand DC Volt Amp Meter 2in1

Digital Amperemeter Voltmeter LED
Tester Blue Red 0-100V/10A Car Battery
Monitor

Riorand

Bought

Used for topside electronics.

$10.99

$10.99

Heatsink

RadioShack

Bought

Used for bottomside

electronics.

$0.50

$1.50

Bought

Used for electronics tube.

$44.09

$44.09

Used for temperature

measurement

$5.99

$5.99

$33.13

$33.13

$25.47

$25.47

Cast Acrylic Hollow Round Rod, Clear,

Smooth Finish, ASTM D5436, 5" OD,
4-3/4" ID, 1/8" Wall Thickness, 1' Length
DS18B20 Temperature Probe

DROK

Bought

D3F audio connector, 3-pin XLR plug,

3-pin XLR jack, D3F audio connector

RadioShack

Bought

Powerpole-Banana plug adapter, 30 amp

powerpole connectors

PowerWerx

Bought

Steel Pan Head Machine Screws and

Nuts Pack

Used for topside electronics.

Used for topside electronics.

Bought

Used for motor mounting.

$7.76

$7.76

Green Trudeau Sandwich Box

Target

Bought

Used for

$4.27

$4.27

Epoxy Resin

HTHS

Bought

Used for waterproofing.

$10.32

$10.32

3 Wing 60 mm Diameter Propellers

Harbor
Models

Bought

Used in propulsion system.

$7.25

$29.00

Propeller Adaptors

HTHS

Bought

Used for attaching

propellers.

$4.99

$39.92

1/2 in Square Acrylic Sheet

Ulric

Donated

Used for end cap.

$5.00

$5.00

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Two ton epoxy

HTHS

Donated

Used for attaching

aluminum brackets.

$5.27

$5.27

Aquarium Sealant dow Corning

HTHS

Donated

Used for waterproofing.

$18.15

$18.15

TLC5940NT chip

Texas
Instruments

Donated

Used for bottomside

electronics.

$3.49

$3.49

Arduino Mega 2560

TS Wang

Donated

Used for electronics tube.

$13.99

$13.99

Perf Board 11" x 5 "

TS Wang

Donated

Used for electronics tube.

$7.99

$7.99

Lead Free Solder

TS Wang

Donated

Used for electronics tube.

$19.95

$19.95

Aluminum Brackets

Raymond
Tse

Donated

Used for motor mounting.

32

$0.76

$24.32

3D Plastic Spool

Ulric

Donated

Used for 3D printing.

$15.00

$15.00

3/4" Threaded Metal Rod 14" Length

HTHS

Donated

Used for electronics tube.

$4.07

$16.28

3/4" Nuts

HTHS

Donated

Used for electronics tube.

12

$0.50

$6.00

3/4" Washers

HTHS

Donated

Used for electronics tube.

$0.50

$4.00

Silica Gel Packets

Alice Lai

Donated

Used for electronics.

$0.00

$0.00

90 Degree Metal Brackets

Raymond
Tse

Donated

Used for frame.

$0.99

$3.96

GY-88 Sensor Module

Ulric

Donated

Used for distance

measurement.

$9.00

$9.00

800 GPH 12v Boat Marine Plumbing

Electric Bilge Pumps

Seaflo

Re-used

Modified to create motors.

$37.00

$222.00

1100 GPH 12v Boat Marine Plumbing

Electric Bilge Pumps

Seaflo

Re-used

Modified to create motors.

$23.99

$47.98

NMIH-0050 H-bridge

CamelForth

Re-used

Used for motor control.

$7.99

$47.94

L298 dual H-bridge

CanaKit

Re-used

Used for motor control.

$6.99

$6.99

X-box controller

Jason Waye

Re-used

Used for motor control.

$26.99

$26.99

Zip Ties

Hobby
Masters

Re-used

Used for attaching

miscellaneous objects.

$9.30

$9.30

Hose Clamps

Lowes

Re-used

Used for attaching

miscellaneous objects.

$9.25

$9.25

Chicken Wire Fence Roll

HTHS

Re-used

Used for motor protection.

$9.99

$9.99

Roll of White Electrical Tape

HTHS

Re-used

Used for motor protection.

$3.20

$3.20

Lighting Crate Sheet 2' x 1'

Lowes

Re-used

Used for counterweight

holder.

$3.99

$7.98

Velcro Strip

HTHS

Re-used

Used for counterweight

holder.

$8.38

$8.38

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Table 2: Sources of Income

Source Name

Revenue

Tchoukball Competition (ticketed event)

$165.00

Bubble Tea Sales

$781.81

Donations (Yatvitsky family)

$200.00

Donations (Weiss family)

$50.00

TOTAL REVENUE

$1196.81

Table 3: Total Costs

Totals
Materials Bought in 2015-2016

$645.24

Materials Donated in 2015-2016

$152.40

Materials Re-used

$400.00

COMPLETE ROV

$1197.64

13 System Integration Diagram

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14 Block Diagram/Flow Chart

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15 Electrical Schematics

Figure 24: Topside Electrical Schematic

Figure 25: Bottomside Electrical Schematic

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16 CAD Drawings

Figure 26 : CAD Isometric View of ROV

Figure 27 : CAD Drawing of ROV

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