TECHNICAL DESIGN REPORT: Kraken ROV_“> Seaperch 1. ABSTRACT This Technical Design Report highlights the Engineering Design Process (EDP) Team Kraken used to create the Kraken Remotely Operated Vehicle (ROV) and the successful design features. This report will review the challenge course, obstacle course, new mini course tasks and how they influenced the team’s engineering design approach. Analysis of experimental results included in the report demonstrate how detailed testing was used to decide on the final design. Additionally, the report describes the team’s reflection of the SeaPerch journey to this point and future plans for the Team Kraken ROV design and team members. The Kraken ROV is extremely unique and stands out in the SeaPerch community because of the following design features: * Modular Frame Vehicle (MFV): The frame is 3D designed and manufactured as multiple parts. This enables easy interchange of frame parts for design improvements or rapid repairs. + Adjustable Buoyancy/Trim: Test tubes, travel bottles, and 3D printed buoyancy caps that can be interchanged are used to adjust buoyancy between positive, negative, or neutral. The buoyancy bottles also move easily forward or backwards to adjust the ROVs trim (Bowditch N. 2002). This enables quick adjustments based on the complex tasks the course contains. © Ultralight Design: The frame is 3D printed and weighs 1.12 ounces to provide maximum thrust to mass ratio (Wing, Charlie, 2004, 2007) for peak ROV speed. The frame itself is also buoyant. Gripper: The ROV gripper is used to lock mines or trash in place to prevent dropping items. Innovative Parts: The ROV forklift used for the beacon tasks is reversable to shorten the ROV and make it more maneuverable through the obstacle course. The servo and other parts can also be stored onboard the ROV to reduce drag. © Brightly Colored: A variety of bright colors are used on the ROV to easily identify components and orientation underwater. 2. TASK OVERVIEW The pool challenge consists of four tasks. By following the EDP, Team Kraken is able to successfully navigate the challenges in the time limits required to achieve maximum points on all tasks. © Challenge Course Beacon- Requires turing arming device to deactivate the mine or remove the arming device for full points. 3D printed forks are designed and manufactured with a curved recess to cradle the beacon. * Challenge Course Vault- Requires turning a lever arm to open a vault to reach the sunken trash/mines. Later, a mine is placed on the same lever arm to allow returning the vault to the closed position, The fork discussed above turns the vault well and does not require any redesign. © Challenge Course Sunken Trash/Mines- Requires the ROV to pick up and transport bottles, balls, and a can, drop them through the vault and onto the platform below. The fork was redesigned to sit ‘on the bottom of the platform to easily scoop up the sunken items. Because items on the fork would fall off, the gripper is designed to lock items in place. © Challenge Course Floating Trash- Requires moving trash under or over a floating ring. This was the toughest design challenge Team Kraken experienced. Originally the gripper was used to hold the items while the horizontal motors pulled the trash under the ring. This worked well with the full challenge course because it maintained control of the items during transport to the pool deck. When the mini course was released, a bulldozer attachment was added to push the items over the ring, therefore increasing speed for the task. © Obstacle Course (Removed 2021)- Requires diving, surfacing, and travelling through five vertical and horizontal hoops in the least time possible. Team Kraken’s enhanced hydrodynamics (Lucas J., 2014), motor improvements, and ultra-light frame resulted in an obstacle course run of 26 seconds. Kraken —page 1TECHNICAL DESIGN REPORT: Kraken ROV_ 2» Seaperch 3. DESIGN APPROACH ‘Team Kraken consistently approaches the EDP with detailed techniques focused on innovation for each design iteration. ASK- The first step of the EDP is to survey tasks and ask what improvements are needed to complete the course most efficiently. ‘Team Kraken identifies the following questions with each design iteration: How can the ROV’s speed be maximized? How can buoyancy (OpenStax College, 2013) be adjusted for different situations? How can items be lifted and transported? IMAGINE-Team Kraken brainstorms ways to solve the questions from the first stage of the EDP with these priorities: 1) Improve attachments for the challenge course. 2) Reduce frame size and drag (Wing, Charlie, 2004, 2007). 3)_ Increase motor Revolutions Per Minute (RPMs) (Kemp, Peter, 2005). PLAN- Team Kraken creates a plan for each design feature imagined. The plans include drawings, materials, building techniques and testing methods. CREATE- After planning the improvements, Team Kraken transitions into a building/testing phase for each iteration. The team tests each improvement so informed design decisions can be made. IMPROVE- Test results for design iterations are analyzed and final decisions are made, Sometimes this involves considering design tradeoff’ such as the additional capability of grabbing and locking sunken items vs the additional weight added to the ROV. KRAKEN 1.0- The standard SeaPerch frame was built to establish a baseline. Because the frame was so stable, Team Kraken decided to base the next design on it but make it smaller. Pros: Very stable and easy to drive. Cons: Slow, sluggish maneuverability (Moore S.W., 2010). Frame Weight: 16.24 oz. Speed: 1.20 FT/SEC KRAKEN 2.0- Mirrored the SeaPerch frame but built using Chlorinated Poly Vinyl Chloride (CPVC) and Cross-Linked Polyethylene (PEX) pipe to reduce frame size. This design verified that speed increases as size and weight are reduced. It was stable and maneuverable, but the team decided to redesign to test how improving hydrodynamics (Lucas J., 2014) effects ROV performance. Pros: Easy to navigate hoops course. Cons: Dives slowly. Frame Weight: 8.18 oz. Speed: 1.34 FT/SEC KRAKEN 3.0- Built with a pointed front, this design iteration validated that improved hydrodynamics increases speed. However, the ROV was hard to control when diving and surfacing. The team believed the control issue was based on motor location and center of buoyancy so the ROV was redesigned to adjust these factors. Pros: Increased speed Cons: Difficult to control Frame Weight: 5.46 02. Speed: 1.66 FT/SEC KRAKEN 4.0- Shortened the ROV frame and moved the vertical motor forward. This design justified that reducing size and drag increases speed and motor location affects ROV control. Most importantly, this iteration identified a need to redesign with lighter materials to improve ROV performance. Pros: Increased stability and maneuverability. Cons: Overall performance limited by material. Frame Weight: 4.5 02. Speed: 1.76 FI/SEC Fig. 1- EDP Diagram Kraken — page 2TECHNICAL DESIGN REPORT: Kraken ROV "> Seaperch KRAKEN 5.0- 3D printed the ROV frame to reduce ROV weight. Pros: Increased stability (Wing, Charlie, 2004, 2007). Cons: Long build/print times. Frame Weight: 3 07. Speed: 1.82 FT/SEC This design showed symmetry improved ROV stability and control (Wing, Charlie, 2004, 2007). 3D printing provided flexibility, but the six-hour print times caused delays with redesigns or repairs. KRAKEN 6.0- A 3-part frame design to reduce 3D print times. Pros: Increased speed, quick 3D printing times. Cons: Difficult to see, weak frame strength. Frame Weight: 1.70 oz. Speed: 2.04 FT/SEC This design was called the Modular Frame Vehicle (MFV) because itis made of small interchangeable parts. This feature reduced print time by more than 50% for repairs. The ROV performed well but when the servo gripper was added, it reduced hydrodynamics. KRAKEN 7.0- A single bottle MFV designed to reduce drag. Pros: Increased speed, improved lifting power. Cons: Slower turning, poor stability on the surface. Frame Weight: 1.34 0z. Speed: 2.20 FT/SEC The buoyancy attachment was changed from two bottles to one, which reduced drag. The vertical motor was also inverted to face down, which provided more thrust to pick up items and reduced surface ripple. Although the ROV was fast and could complete the challenges, it was redesigned to improve ROV stability and control. KRAKEN 8.0 (FINAL DESIGN)- A three small bottle MFV design with the servo behind the vertical motor to further improve lifting capability and hydrodynamics. Pros: Stable ROV, stowable servo. Cons: Time consuming to stow servo. Frame Weight: 1.12 02. Speed: 2.78 FT/SEC FINAL DESIGN DISCUSSION/FEATURES The new frame allows the servo to be stowed behind the vertical motor to reduce drag for the obstacle course. Adding a servo gripper was the most difficult design feature on the ROV. Despite the added weight (1.95 oz.) and drag on the ROV, the increased capability provided makes it necessary. Additionally, having the servo control from the pool deck with the line tender improves Team Kraken’s poolside teamwork and communication. Alll the improvements combine to make Team Kraken’s most innovative ROV. Additional unique features include: Fig. 6- Kraken 7.0 Adjustable Buoyancy Enables quick change of Balbo. asi RON git oucganey: of floating trash. Upgraded Waterproofing 3D printed cap and resin Servo Gripper sealing prolongs motor life. Ensures sunken items are not dropped. Improved Motors Doubled motor wires Bottom Forks reduce cable resistance Easily scoops beacon and inctease motor RPMs. and sunken trash, Kraken — page 3TECHNICAL DESIGN REPORT: Kraken ROV_ "> Seaperch 4. EXPERIMENTAL RESULTS Speed Test: For Team Kraken’ the most important ROV design S0FT POOL SPEED TEST factor is speed. The team conducts in-water testing of each ROY with three runs of 50 feet for each ROV design. Then the team calculates each ROVs speed in FT/SEC. Figure 9 demonstrates as the ROV sizelweight is reduced, thrust to mass ratio and ROV speed increases. Speed testing is key YAZEN HOARE AEN ERAN RAEN RAKE RAEN RAE in determining the ROV final aren) makes? Senes’s me ive —Lorxets design. Fig. 9 SOFT Pool Speed Test wuzonne eee su 8 RPM Test: RPMs establish a good measure of motor performance and the [il team uses a digital tachometer to measure RPMs of motors. Team _ Kraken’s observations include: ‘* Higher battery voltage produces higher RPMs. The team standard is to test and only use batteries above 13 Volts. ‘¢ RPMs range from 10,500 to 11,600 on new motors. Having right and left motors with equal RPMs help the ROV drive straight, ‘* Decreasing electrical resistance increases current (Moore S.W., 2010) to the motor. Team Kraken utilizes solid CAT 5 wire instead of stranded, doubles up CAT 5 wires fiom the RJ-45 connector to the positive motor terminals and reduces cable length from SOft to 15ft. These modifications, on average, reduce resistance from 1.8 Ohms to 0.8 Ohms and increase RPMs from 11,500 to 12,400. Drag Test: With a dedicated focus on improving hydrodynamics, the team /"%- 10- Digital Tachometer tests ROV drag. After completing a drag test (Moore S.W., 2010) using spring scales for ROV design iterations the team confirms that forward surface area on the ROV directly affects ROV drag and correlates to ROV speed. Utilizing the EDP Team Kraken creates thinner ROV designs, reduces use of zip ties, and curves forward facing surface areas on all design reiterations. Additionally, to further evaluate the effect of drag compared to ROV speed, the team measures forward-facing surface area, The standard SeaPerch ROV is 179.7cm? and the final design Kraken 8 is 55.1cm?. Overall surface area was reduced by 69.4% and speed increased by 131.6%. As surface area drag is reduced, speed increases. However, motor improvements on design iterations make it impossible to calculate an accurate ratio of drag vs speed increase. Prop Test: A 50-foot pool speed test of propellors is conducted to analyze performance of various propellers. Testing includes the standard SeaPerch, 3 bladed, 4 bladed, and 3D printed propellers. Testing evaluation demonstrates the standard SeaPerch propeller provides maximum speed. Functionality Test: To verify ROV functionality a full mockup of the challenge course including the beacon, floating trash, sunken trash, and mines is used. The course provides the ability to test the gripper, forks, and redesign as necessary to improve the ROVs ability to complete all tasks. Kraken — page 4TECHNICAL DESIGN REPORT: Kraken ROV “2 Se@aperch 5. REFLECTION AND NEXT STEPS The EDP steps below are key to the innovations applied to the Kraken ROV: «© Ask- First, the course was built and tested with each ROV. This enables the team to take note of all the requirements that each design is not meeting. Once the team identifies imperfections, the following questions are raised: How can ROV speed be improved? How can motor performance be increased? How are challenges navigated? ‘* Imagine- When imagining and brainstorming, Team Kraken’s coaches challenged them to use different materials and to not rule out any idea until it was attempted. This led to innovations in 3D design, motor improvements, and the creation of the Kraken gripper. * Plan- The team had to research and plan for materials, timelines, and new innovations. This EDP step helps the team be more prepared. + Create- Building and constructing each ROV and its parts is the most time-consuming step. This step led to creation of the MFV which decreases the ROV manufacturing, repairs, and redesign time. * Improve- According to Team Kraken, the most important part of the EDP is to improve. Bight different ROV design iterations were constructed and each time the team assessed how they worked and ways they could be improved. Each design iteration went through additional adjustments for its attachments. In the end, the EDP led Team Kraken to success in previous years and continues to help as they push towards their goals. ‘Teams Future Plans: Team Kraken’s members will be going to high school next year. The team hopes they can come together and compete in the 2022 International SeaPerch competition open class. ‘* Research RoboSub and SeaMate and possibly compete in the nearby regionals ‘* Return to Mayport Middle School club to teach everything the team has leamed to new 6" graders and club members so the Kraken legacy can continue. ROV Future Plans: ‘* Team Kraken built a capable open class ROV. One of the biggest problems is how big the controller is, which makes it difficult to hold. In the future, plans are to 3D print a controller that is easier to hold and operate. They intend to try different types of controllers by printing circuit boards and/or coding an Arduino microcontroller 0 joysticks can be used to control the ROV. © Continue working on open class ROV innovations including adding a camera, because ‘one of the biggest challenges Team Kraken faced is identifying the ROVs proximity to objects prior to picking them up. * Team Kraken plans to continue to improve the ROV’s speed to get under 20 seconds on the obstacle course by adding an additional booster motor. Lessons Learned: Team Kraken leamed many valuable lessons and it has been a lot of hard work. The ‘most valuable lesson learned is that failure is the best teacher. An untimely propellor detachment during 2019 internationals taught them that failures happen but true engineers can reduce them. Most importantly, failing to reach their goal at the last Internationals taught them that ROVs can always be improved, and suecess comes with hard work. Fig. 11 - Open Class 4 Motor ROV Kraken ~ page 5TECHNICAL DESIGN REPORT: Kraken ROV_ "> S@aperch 6. ACKNOWLEDGEMENTS ‘We would like to thank everybody who helped us get to where we are today. We are truly fortunate to be able to compete in this challenge and have this experience. First, we want to say thank you to all our amazing coaches. They helped us get through all the challenges that we faced through the years and taught us a lot about robotics. Mr. Hudson, who started the robotics program at our school, has helped supply us with new materials to try for our ROV. He also showed us many things that helped us when designing our ROV. Another coach that helped us a lot along the way was Mr. Shanklin who helped us stay organized, helped with supplies, and really pushed us to get the work done. We could not have done this without him, Mr. Felice is our final coach and our ROV would be completely different without him. Mr. Felice taught us 3D design and printing. Thanks again to all our amazing coaches, we don’t know where we would be without them. Sponsors are also super important to our team. Without them we would not have been able to afford materials and transportation, we literally would not have been able to be here without them. Our sponsors are TIAA bank, Worlds Finest Chocolate, and parents who donated to the club. With the help of our sponsors, we were able to travel and compete in the 2019 International SeaPerch challenge. Last year, Worlds Finest Chocolate helped us set up a fundraiser to sell candy bars to ea money for registration to the competition. Thanks to all our sponsors and everyone who helped donate to our club. Last, but certainly not least, we would like to thank all the parents of the club, They help with transportation, by driving us to practice every Thursday and Saturday. They also help with funds, by donating money and materials, help and organize events and club meetings. It was a parent who organized the World’s Finest Chocolate fundraiser. That is why parents are essential to this club, so big thanks to our parents, sponsors, and coaches for all your contributions to our team. 7. REFERENCES ‘Wing, Charlie. How Boat Things Work An Illustrated Guide, 2004-2007 L.C.B. Dear. Kemp, Peter. The Oxford Companion to Ships and the Sea., Oxford University Press Inc. 2005 Bowditch N. (2002) The American Practical Navigator: An Epitome of Navigation, Maryland B., ‘National Imagery and Mapping Agency Moore $.W., Bohm H., Jensen V. (2010) Underwater Robotics: Science, Design & Fabrication, Montgomery C.A., Marine Advanced Technology Education (MATE) Center OpenStax College, College Physics. (2013, September 17). Archimedes’ Principle. Retrieved From: https://enx.org/content 4/Archimedes-Principle Lucas J. (2014, Aug.20). What is Fluid Dynamics? Retrieved From: www.livescience.com/amp/47446- fui Kraken — page 6TECHNICAL DESIGN REPORT: Kraken ROV_ "> Seaperch APPENDIX A: Budget ‘Component ‘Vendor ‘How was component | Cost used? (in, USD) 3D Printed Frame NIA Frame $1.60 (32 Grams) 3D Buoyancy Bottle Caps NIA Buoyaney/ $0.30 (2-3 Grams Each) Hydrodynamics 3D Motor Caps Front NIA Motor Waterproofing | $0.20 (2-2 Grams Each) and Hydrodynamics 3D Motor Shaft Caps Rear NIA Motor Waterproofing | $0.15 proof G-1 Gram Each) 3 Bottom Fork NIA ROY Accessory $0.60 (12 Grams) 3D Top Gripper Forks NIA Servo Gripper $0.60 (2-6 Grams Each) 3D Bulldozer Attachments NIA Servo Gripper $0.80 (2-8 Grams Each) 3D Cable Floats NIA Cable Buoyancy $0.90 (3-6 Grams Each) 3D Frame Buoyancy Block NIA Frame Buoyancy $0.25 (5 Grams Each) Battery Case Holder (1) AMAZON Power to Servo $3.00 Amazon com: Qemmar OuOMT Switch 4x SV AA Battery (Case Holder Leads Black w Cap 2Pce Home Auto & Theat Additional CAT 5 Cabling AMAZON Doubling Power to 80.74 Amazin som: 1001 CatSe Orange Sold 4AWG Cable Solid (ISFT— 1.5% used) | itr inatneomck nettnencaisTes | Motors ‘range: Computers & Acessories Servo MG 995R (1) ALIBABA Drive Servo Gripper | $1.97 ih Speed Torue Servs isla Tomer Mg96c or Eula eRe ‘isonet Bout Car- Bu Mc SesvaM96r M95 “Mata Ceac Servo Lomerpro Me29S Dsl Metal Gear ‘Servo Produ on Alibaba com Servo Controller (1) Eee Operate Servo $4.28 OC5V.5V bua Sere Mota convotetes | Cie Batteries AA (4) AMAZON, Power 30.96 -Smazoncom: Amazon Basis 100 Pack AAA High: Servo/Controtier 0. Open Vale Pack: Heath & Petsaal Cre 4-40 Nuts and Screws aRZON Gripper and Frame | $0.51 ‘VIGRUE S40PCS #2.S644-40632 Philips Pan Head (12 pes) ares ol Nut Fiat Washes 304 Sls Ste Machine | Attaching ‘SctewsAssonent Kit with Wisnch nd Storage Case 2- 5G-40632) Amazon com India & Scie 6x32 Screw 1” (1) ggg neON. Gripper Attaching $0.10 -Amizun som: 86-32 x1" Ts Head Phils Machine stems, Full Thsad 18-8 Stakes Sis, Quanity 100 Hons improvement Appendix A —Page 1TECHNICAL DESIGN REPORT: Kraken RoV_ "> Seaperch 6x32 3 Inch Threaded AMAZON Servo-Gripper $0.42 on com: The Hillman Group 44812 46-323" Rod” (1) Astrea adic ans inpincmal | Attaching ‘AMAZON i 6X32 Nuts (5) Gripper Crossbar and | $0.30 ‘Amazon. som: The ilnan Group 14015 Hex Machine Suren Nut Gash ty lh back Home| Attaching Inprovenest ‘Test Tubes (2) AMAZON ROV Buoyancy $0.56 ‘DEPEPE As SO Clea Flas Plast Test Tes ith ‘Screw Caps: Amazon com: Indus & Scenic ‘AMAZON Amazon.com : 0502 Mini Clee Plastic Empty Bote with ‘Cap Siall Travel Bots Si ROV Buoyancy S116 [BPAcfee = Set of24 Bemy Plastic Dropper Bottle (1) eae pry | ROV Buoyancy $0.28 Packing Seal (5% used) AMaZON Motor Shaft Sealing | $0.25 Marine Grease (2% used) AMAZON Motor Shaft Sealing | $0.19 Expandable Sheathing AMAZON Cable Wrapping sil (ISFT, 15% used) Wire Cable Braided Loom Heat Shrink (12 pes, 2% AMAZON Waterproofing $0.18 ea Shrink Tubing. Sevens 2:1 Dual Wl m used) sdbevettShaa Tate se ay Watonatang_| Terminals Insulated Electrical Wire Heat Shrink Tube Kit with BoxtS SLA Resin (5% used) AMAZON Waterproofing $0.72 Fishing Line (2% used) AMAZON Gripper Crossing $0.10 ‘TOTAL COST OF SEAPERCH COMPONENTS eal Appendix A — Page 2“AOY quAIDYJa a1ow pue ‘49}5ej e 10} pamoy|e UBISEP “sploy sjeuoneusaruy AneAoUu Ng "JOU Pino Yooy e ye SyDaIqo dn yo1d ApjayNb youedeas seek siya uJ Suadwos eovayedxe ayy 0} premioy (01 sn smojje yey sadduB e sey os|e AOY 4NO “AOY sno Jo yoo] 3m pue Aeuunof uny e uaa sey 3) HOMUIeD? pue BULZdUIBUE ypeq 40 U0 ay Ul UONeJOY pauisap ax yay asino9 sdooy ynoge jo] & Bujuea| aym sfeuoneuayul YyD19ge95 GTOZ U! rE pue asino> aBuayjeyo ayy YBnowyy sannauew Ajisea ued am ayer ‘sjeuorBax ajdiyjnus um 0} ayeunyioy a1am pue saBualjeys ay ‘fouefong aiqeasnipe no yn “jesNaU Jo ‘aanedau ‘ennisod ile YBnosyy 3s8q sno # ane aM “GIADD pue asnoD ayy 07 SaBUEYD wioy Aouekong sno aBuey2 0 paysnipe aq ues siseljeq ‘squawiadxe AOY palley ‘Siequiaut weay Zu)so| ZuIpnyout sajoeysqo ang “uSisap 21WeUApoIpAY ALOU! e 40J smoyje YyDIym aUweYy ‘Auews pare} aM “soROqos Uo [OOYDS a|ppIW UI aI!YM sunoY QOg 480 paiulud ge e sepnjout uBisap sng ‘sjuawala Mau Jno jo awos pue sead siya sunoy 00z quads am {Jo Aed |1"4 31 '3S8q 4NO AN am J Bulaq auo suoseas Auewi 404 \nyssaoans uaaq sey AOY JNO (xv spiom gor) :S} Uoseas Siy3 Aemeaye} 1S2831q NO (xv sp0m 001) TAMBIAJBAQ UBISAG Y9de9S “now ay Bunraye 1y3ieM ssa] 105 moje a1ge9 243 UO shong :A2UeKONg 21429 TEI TET op pore “Ayjiqix@y a10w pue Bunury ssa] saonposg :ujyreays e[qepuedxg Seater at nna nia Su19e} s1 10g ayy UORDALIP Y>IYM AyUAP! 0} sN smojte UISEp 1YBLIg :40[0) “22/5 AOY 2anpa1 0} pamoys 40 payualioas Bulag Jo ajqede9 :sywed eAneAOUU] “aged ul yseuy pue soul 920) 03 Jaddu8 omas edd “onjea sseu 03 3smsyy aAosduu} 0} 20 ZT'T Aluo SystaM :UBISaq IYB}EA1N -koueAong aniisod 40 angeBau ‘jesnau queysu! sajqeua Aouekong uappIH "WHR s,AOY 3sn{pe 0} spuemopeq/psemio} Aljsea senow AaueAong sw /AaueAong aiqexsnipy LuBjsapau/sjedad 40) syied Jo a8ueyo pides 404 :(AJIN) PIAA awtedg 1eINPOW (xv spuom oor) :asnesaq anbyun S| yuageas sno aduayjeyg yuageas jeuorjeusaquy ay je saw! = TZ ed sieaA € youageas ul! Suze 114 ‘ajjiuosyper - [ooas aIppIW seouaI9s [e1s09 YOdAeW, ydjadeas g& uayesy weaSchool or club name: _Mayport Coastal Sciences Middle Schoo! City, State: Jacksonville, Florida Teamname: Team Kraken ROVname: Kraken Seaperch 2020-21 Engineering Notebook APPENDIX C)- PAGELADVISOR NAME: Mr. Christopher Shanklin ADVISOR CONTACT: sepkshanklin@gmail.com (224) 381-4310 TEAM NAME: Kraken TEAM PARTICIPANTS: Kara, 8" Grade ‘Tamia, 8" Grade Tessa, 8" Grade SCHOOL: Mayport Coastal Sciences Middle School SCHOOL DISTRICT: Duval County, Floridaed PAGE 1 COVER PAGE PAGE 2 TEAM INFORMATION PAGE. PAGE 3 TABLE OF CONTENTS PAGE 4 ENGINEERING DESIGN PROCESS PAGE 5 DESIGN TERMS PAGE 6 DESIGN TERMS PAGE7 TAIL OF THE KRAKEN PAGE 8 KRAKEN POWER PAGE 9 WHAT A DRAG PAGE 10 KRAKEN EYE PAGE 11 KRAKEN FINS PAGE 12 PROPELLOR TESTING PAGE 13 KRAKEN CURRENT PAGE 14 MOTOR LESSONS PAGE 15 HYDRAULICS PAGE 16 GRIPPER. PAGE 17 PROTOTYPE - KRAKEN 1.0 PAGE 18 PROTOTYPE - KRAKEN 2.0 PAGE 19 PROTOTYPE - KRAKEN 3.0 PAGE 20 PROTOTYPE - KRAKEN 4.0 PAGE 21 PROTOTYPE - KRAKEN 5.0 PAGE 22 PROTOTYPE - KRAKEN 6.0 PAGE 23 PROTOTYPE - KRAKEN 7.0 PAGE 24 KRAKEN FINAL DESIGNLngineern weaving Ley Dessgn Frocess Process Novernber 7, 2018 WOME Telert <4 te __ iy (*} feed! oa IS = nstoomy, Deveso J Possible Soludiors. A.ObStICIe Course <5 sece . aa Challenge Course < 2 mn, Per veo (4) 2 Win Regionals (2 Tntexnationats 0 4, Have Fan SHV (Hat 2 Blost)) L Make a prototype. od Reng &) i _ @RERTE Testing And Hvaluating @ © Key DeSign Objectives fit = THles 1.-Decrease Rov's Sizeto inccease theast Design Tecrs to mass Vatio. MMB = Phot’ Lapeets gammy = Keaken L. Decrease dcag on the GOV to increase Conclusion Speeds 3.ada a tool to ROU Cabable oF PreKing up stems. 4. 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Derrormance Snitity of Ships felated Ship Motion dae fo ‘Sheeting. st m3 Se poarch Huey ant facce that [3 exerted on a ‘od Se ee Flakel ghey full Or RAHI Sulome equal to the weight of tre” FiusdY that Pa tadly dsplaces. RPMS —Revoluct ions Pec Mince. Obstacle and 'Cha\\eone Covese | / 6la 1 oF +), z Y aKen Décomber 18, 2! Hous Can the ROV Gable be. lgnter anot More Visible? Cable Photo Ge cedld. eplace the Orfefnal White Cover with the’ gat black Sheathi ity. We Can imeroue J We Striped oF¢ the Vues and Fek the by usin: die tabi Sch Gow Sheasth® Wwites th Y the Busgaat and deesets im Black Shesthi t — o @ We Obsecved that the black Shething WaS more 5 Punwverable AA visible. Mcallen | 4.0. Fh) Black Sheathing, Based on the increased fenbie aad VE sate it _ We decided te ‘ke oar exes Heats eng-¥ aken OW EY december 4, 2018 @)}:: do we et More Power oN the Your (@) La Ceplact He aiigatos ohpouch Ferrindi. leads Produce Pore Power to the Matos 4 Teterthaileds Athatertclipis USe a tachometer to luril Investigate test RPMS of 4 moter Pore ways teget With iCNSps And lesds Power t¥ the“motors. Testin with clips, and Vellls Produced the Same RPMs. oS ms __ Although there Was no deference fn RPMS From the Atoqttoc Clips And the terminal \e4ds We decided 4. ‘use tre N CUPS because they Sta bettes. J 8| 5 \what a Drag VI sous Te we made the Shape oF Ous battles More hgdco » Would # tnevesse Ok) ee ete I WE Should Use. Aistecent Matectats And Shapes to buitd hydrodynamic Yoottte Caps. We Used Cock avct Cities So Petaling, to rate ballast ta ia \oolttes Cag: Pa ba llast+anks. fo oe The Mat bottle caps Phots oe ested: Battie: Cis! Created diag. Bsth the cork Snot $0 cat bat Awtougn tthe Water. Tr the end Ue decided =, t Wwe BO battle Caps Phote de CAB =BatHtetcag because St {> Pore (BDTIRERHUR | hgolradynaric. Rete Caps!Eye slay i at Would 3 Cameca vuke i easier to OScK Ug Stems —————> th the Challenge Course! Ow o- We Should attach a Camera te curt Vook that Connects to 3 Sxeen For the Adver te lock at. Ss We dre Teaserchin We Purchased 4 4 ten - at 50 Foor Camera Feo heuzen And tested f+ in dud out of the Water [___ gp "1 The endoscope Cames Cabling ALS Vigih and eo Shovt. Kiso, the Video Yeotaje uf low YeSotation and the Video Laggect. : Helen Cagtason We decidled +o viet uSe the Camera because t+ aa oer cur budget. lOraken fons ‘eos jot How de we Speoue. Seaperch Waters for wove RPMS and less acre WE Shoulh get tide Ae Elvi Canisters, a, Avol aiidce wh . c bot glue, Orvin. (Piotds. By. nk 30° Pinte ick oe : Caps. Meters! : We ecfiereagored a Hi alee > We wll fnuest ate. S to fmpce wd Pale Caps ated 3 +h sleds Gn Placed the Motors Im Meter caps We decided to use the tetor Caps because Wey fneveased RPK Performs weve bucy2rrt, ancl fice deg eeeWould oF the Nambex ot ¢ Ze OF the Peo, pete ‘nceeaSe Our Speed Prope eller Testing _ lens Ue. Should add More blades to OUF Krope llecs vo vale them | ee Vy = Ge Gand Props We Could ty Use opintdlt- o€ Vavfous sizes wr Props wit a aid exch Shape. = | SECONDS 6B Bs Anal Shapes. POOL TEST (30FEET) PO sareot sac sMalL_MEDUM —taitrreu so prureD (2BLADE) SEAPERCH PROPS PROPS prop (2BiADE) (S8IADE) (SSLADE) Gola) (astane) mRUN1 MRUN2 SRUN3 BAVG | Sales props Teined cut to be the bet BS welll Contnae ey them untill We tind better Qrops.\ewFhed (2 Uott battery? Bbensl Mew ee the Cable thickhes to the botor termi te Feduce Vevstsne Bvch. inorease, Curve to the Motor, The Tedluced restsidnce We Bouided uy Empresed ROMS, So tog, = the Cat & Cable to All ox finvestiqdbe. Woes +o Lots the positive termanals ancl the négatve terminal s cernated the Cat 5 Cable FE “7 ferret R5-45 Connector. ra RI-45 Popeeioe: Us ae a Spare Cable, af het Chometer x few @ eon OF 3 News rotors Rina, identical battery voltage P. moter pevormice becduse i Feduces vesStance, increas Current Supplied fo the ‘moto —L 20 T Gnms LAW This hy we USek ASS ponent on gue Moros, ret Ug wires improvesApS) 28, 2019 Picture) O¢ New Mold Brushed _Victurence Worn!) Motor Bruswey Hea Gaket Motor eKluve — CguseZ Wom motor Brushes As we practiced more We urvl motoss 9%! It 9 high vate. When boter brushes wear down, ke fn the pictue Akive RPMs cdecredse 9 lot. Lessonltebesedt Tnspect the brushes Or Use New motors betore Corpetition rckuxes Gt Sealed Motors ) Shack Mote Cap Douitiedt Motole tiie! PDIROUEIRE! Wate Sn the motors Cause: Faulty rotoc Sealing is We pallect Mofors Apdct to Figure Gut uhy the Fall We noticed the rotors fafled When Shee keaked Sn Rate Sh. We usec Fae ed dnd marine qvegse Under the 30 Caps to pedute Water intake a in the Shist area. 4H draulec eit ato Hows Com We Greate G Ostgper COO FO TT hetp gfe) Up the Sunbren 4rogy Och fre rnes? We Snouid USE, ringed Rook SIDE Owed afe 4ubing 40 Create cy sa Capea sc SyStSer Het Ue Com iy IASC, Aantppes!| Cow +o. > Dee to Cus af tace Oth, 5 WE took, PIOSHE Wain S Ane hysracutes We ase, Gad C8r tupsry rel ut on to expestment with Water and tel hygteout RRRANC Dextiog fo Create. System 4o omich we Com Ode Stronger gxtypen ‘ Co Skgpes. Werested fre Gmownt o¢ Kime taoh to extend/re-tract the sue Crave. arth be teen the Gaxtes THON AS 1.65 7 olde! TFs 22 1.31 Tro Zs 1-44 Tefat 36 1-25 Tefal 321-63 Avewoges (.40 Averages 150 - = eS J ays 4S s Wiel £3.35 Presese extending | Trai 2 S88 Wiad 3 3.66 I2NewtonS Trfat 3 4-06 Averages 3-63 Aveseger4.c4Gr? OY 1pper Jenuaey 2, 2020 How. cow we | iat ar @. Song i eo ee, and == F dhe pool? Ve could attach Ve @ our 0 Servo moto Sn order to make a Qrppen \neokt pee ° tel ~<—— hook. ea x could Gt a e—" the {looking ash On Mae, oe ol ing par TOV pool_to pick ue ee Cubhes Prod Closed onto items lens fall from Closed Orato the the noon. tems pn eld foster; reduced jitter them ig ~ Had a fitter that hegderenGoreluistonn often releas: { dents me ste. besdpa) We concluded Hat tre e ROV }u0 par ari pper is 16 necessaryNovember _15,_Zo18. . Kea Ken i. 0 (Seapeccn, Rav design.) { BocKk= linc Photo! : $3 }¢ 4.15 Sze would make TH Ai FFiCUtt 40 drive end Ye hoops Counts. 2. Tt does fot have on Speed for MAX. Pointy iN the, CI Wenge Coutge- 3, Needs. Bway to pick “p terns. Standards Pools test Malilitycdest — _50 fectiheriZomtal posttest O¥oet Werkical_ posi test Trim - Neitral Trial 1= 41. 68 seconds Trial 1-12-21 seconds “List-Neutral S Trial 2- 41. 63 seconds Teal 2- U.S 5 seconds Trigl 3— 12-25 seconds —posive Trial 3-44. 8 Seco Rah 16.24 circes Aves a ~ 41-43 seconds Average- 12.00 Seconts 47raken 7,Q Meise ut Would Minimizing the oe OF thé! Statdach —_—__—_ > ch ‘design ‘inccesse. Owl Rad Ypecd st WE Skould USE thier And hotter Pipe to ‘TnceeaSe Gur theust +o $ 1 Mass. Ratio. _ We ModifFed the Stands we burt 2 Smaller Seaperch design Version OF the . Stardgch Seapeacth ROV Replacing. He ¥tam With water pees : OB) | wa: Legshicin. Teiim—Nekrteal Trial 1 -— 37.63 Trial 1- 9.6% SS Neatcal Whral’2— 35.47 ek \2-9.48 pace ste ve Tytal 3 - 36015 Tritt 3-4 83 BAB dunces — Avexaqe~37* Of Average -9.63 J Si 7 Kraken 2-6 tas Stable bat Photo because of MHS Squae Front We decided ty Suttch to 4d Mere hydrodynamic design. 418raken 3.Q meen ——& We Should impcou cure arnics b wl ni) our a Out Xale2{@lock =4neh, ihe bo Sa Point we x an ’ ROV that #3 Shocter OF the Ind Wider wth 4 Teira-Neutva( Teial 4 30-17 Tia 1-999 List Necaxal Tal 2 30:33 Teiai 2- 10.64 Buco neg BiH Trial 3- 29-7 Wal 9973 wet SUoomes Average: 20-97 hvesre :7. 74 Ket Scan Keaken 3.0 1S oux Lastest Rov ~ So Kae but Tt aS Safer had oe to contol So We clecided +o witch fo 4 move Stable design. 9Kraken Create Scales Letock= Asner aker, 49 Decembec F, 2018 Tf we ove the Motac Closer to the Center OF tote ON HF ove the balace ck the Rou? We Could fncwegse the HiStance Frows bow to Steen to PUce Our Motor Closer to the Center OF Baagancy? ) Ge basi 4 Stfnqray Shaped bot to path Our KOV Crom FIS ‘ren In the Water, Staite Soest esi eh Keaten 4B 98 Our mest h dy wamic, Sable, And easiess coktcc Rou. Si Ge CI Continue to Se. 4.0 Soc Competitions Gantt Wwe 2 bettes Rov. We Fncreased the. \peed dnd Vest¥cal Tf eeescken OF cuc KOV. ni Teim- Necctral Tei al A= 243 a Neutcal Teial 2- 24°54 ate Positive, Teal 38-2734 wit Usounces — AYexage: 29:34 te Teral 1- 8.64 Tridl 2- 3.37 Teal 3- 3.42 Mugrages 8.47nutlen 6-6 0 Aow'l 2, Zou? eo: K eo S; ee a faster? We Could make Hopiview Our Rov IX bie anol Smalle: wih ' ae eek poking 4 ‘ale 1Block=4inen J &) We eSiqnedt a We CFI Continue, reals Fang in aa Be improve OUC Frame aye Cur et ttn Placement i tee) aio Te pir Cur Rov§ Guerall NT ‘ Appian: Sasiity test ‘reboueallericrtepecttent. Ti Newtal (dfsustauie, THE 4- 27-97 Tat 4-8.c% SH = Necctra ls |. Tat @- 27-25 Trial 2- 8.36 Somer Rsstiveleifustabie Teal $= 26-41 Tal 3- B42 il — Bchenbes © Avesage— 273 ire eae TBO: tebe. dees es to Change this design pase by oO Sets tre eniite fore we were, ake Ce wmecbase Cus theust to mass TatS0 Ad tt UBS Mere Manveverable,Kcakeny CQ Sonuary 25, 2oz0 Yow do we efficent pick tems ve fem “he —> bottom of the pool We Contd motie a Reviews Prove. Duaggrct FD thot hokOn Cho. GOHOChment Aoasg For 0 Secu. z " Sy e a Vrralhen 6.0 vorked = we Oyestea, Cue ee bed WoulR Dott © Cth Onment Vale bottle GSO ond eddect Ziptie ve foster nd, sone hotes, 4aottocnO Monwerablet e le Lerve confre SH ben 9) hegfeechypomtc. Trim-WNevetrat /adjustagie LSSt= Neutral Trial = 2464 TrPah 4- B51 Tea C- 23-47 wes Tiel 2- 837 Soden gous Tial3- 248 TrSah 3- BAL Nt“ Le 7Odunces Averaog~ 1H 4D Vicothen ce ® axrhed 4 rect but TB Stragaied us ssn tries pies te Coerving nS sare uss S tron eed AE Ke.©): we Freese, ©). Sez ed Ond wmawvero) , Oe Our Pov Wi an e Bere 2 nd axtgger on The ow ‘ We Comc © old plc )=1Gnen te 0. One bottie SEIN Topurew j= gem to mothe Ug Gr tne — rT } Gd tHfonet drag, Oddled by <2 ma the Artegers s—d] oo Micle Wer 22. ALI Ee —“ a We nhove made o lot LW We Modiffed cue Ob Finns poSons fo Ce AOU. bucyoucy OHaCnment to ch One’ bee Aesiqn, We Cie Now expiremenin Win AY moter Feropen yeah @) Od eS gpec. pier ilee¥ea. Paoion Tem - Neateol fodjustonse Trio.t 4 22-47 LUSt- Neursat TrSoxt 2- 22:92 — ancy - Rsttive Tria) 3-22-21 eae YESH Ounces Averoge-3270 om Tigi nn AVES design Lbs Posters 2 — Wes manth hosder fo manver ond % cnord, SIT {Sh t.doedS oct Uden déiving On te pustice So Lakl we came Upntth a Better desi Went bach to Poclcaing wth ome ny OL haePemovohte Trird Rottie. Trereased Stolitity ond | ONows W540 en | Chonge ‘ooayency? Epona Sheat bing Retr Colors Trews Coble, > lets Gs See Our Pov, | Pera bility Disteceny Colors on the Front And bach heigs us Feu Wanich direction tne 4S. Facing, Heaven 8 Goat views PBuadozer forws Pushes Float fing tosn Over hoog F254 Gnd. ceFicently- Vivotren \ $2dle Utew | Erectyical Tage Prevents lates Crom SidPag and adds Bottle Cogs More Cotor fo hetp More_hi ead ynastic See tne Pov. ond odd #sforial ouoyoney. 3D Frame Lignter/reduces drogy Allows US to Mane omy Thage We wont. High Speed servo RoStex /quicher 40 trap Stems. aH