Design Project Management: Boeing Underwater Robotic Technologies [R13201]

Design Project Management: Boeing Underwater Robotic Technologies [R13201] 2/11/20 Rochester Institute of Technology 1 Outline DPM Project Definition Current progress Project Ideas in the following areas:

Limited Bandwidth Communication Navigation Systems Energy Systems Payloads and Sensor Systems Autonomy Summary of Project Ideas Next Steps 2/11/20 Rochester Institute of Technology 2 DPM Project Definition Conducted interviews with invested faculty members Project Background/Research Voice of the Customer/Objective Tree

Functional Decomposition Metrics and Specifications House of Quality Risk Management Engineering Analysis Feasibility 2/11/20 Rochester Institute of Technology 3 Agenda Limited Bandwidth Communication Navigation Systems

Autonomy Energy Systems Payloads and Sensor Systems 2/11/20 Rochester Institute of Technology 4 Limited Bandwidth Communication Projects There are two emerging communication technologies, Laser and LED. For each of these technologies, the proposed project consists of: Creation of a model to optimize data transfer rates and range for laser and LED wavelengths in various conditions. Testing the commercial or in-house manufactured optical system to verify the results of the model and pursue longer range models and tests. Manufacturing a waterproof housing for both the communication

device and the receiver. This project could be pursued simultaneously for both Laser and LED methods of communication. Only one housing should be developed but it should be compatible with both systems. 2/11/20 Rochester Institute of Technology 5 Agenda Limited Bandwidth Communication Navigation Systems Autonomy Energy Systems

Payloads and Sensor Systems 2/11/20 Rochester Institute of Technology 6 Navigation Systems Proposed Projects Precision Operations: Design a robotics rig which accomplishes the following: Identifying and avoiding obstacles Delivering payloads Navigating both known and unfamiliar territory Endurance Operations: Design a robotics rig which accomplishes the following: Minimizing drift over time Maximizing submersion times Navigating effectively for long periods Navigating both known and unfamiliar territory

2/11/20 Rochester Institute of Technology 7 Navigation Systems Precision Operations For this project a student-designed rig would accomplish tasks similar to those typically seen in the AUVSI/ONR Underwater Vehicle competition. Possible tasks include: Navigating a specific course path while identifying and avoiding obstacles Delivering specific payloads Precision navigation using a visual camera or other high accuracy instrumentation Possibly employing sensors to locate oil or other targets This project would likely be a long term project due to the integration of the various systems required. 2/11/20

Rochester Institute of Technology 8 Navigation Systems Endurance Operations This project would utilize a student-designed rig to focus on the endurance aspects of the system, including: Maximizing submersion times while minimizing drift in GPS-denied environments. Navigating effectively for long periods Identifying and avoiding obstacles Possibly employing sensors to do carry out these objectives within the framework of a sensing mission Once again, this would likely be a long term project due to the integration of the various systems required. 2/11/20 Rochester Institute of Technology 9

Agenda Limited Bandwidth Communication Navigation Systems Autonomy Energy Systems Payloads and Sensor Systems 2/11/20 Rochester Institute of Technology 10 Benchmark of Current Collegiate Autonomous

Technology/Research University of Michigan - Perceptual Robotics Laboratory Simultaneous localization and mapping (SLAM) Algorithms University of Tokyo - URA Lab R1 (long Range AUV) MIT SLAM Algorithm Heriot-Watt Ocean Systems Laboratory Fast Marching (FM) algorithm 2/11/20 Rochester Institute of Technology 11 Autonomy RIT Research Dr Sahin Electrical Engineering

Faculty advisor to Robotics Club He has research experience related to autonomous systems RIT Robotics Club Already has autonomous systems experience Currently compete in IGVC (Intelligent Ground Vehicle Autonomous Mobile Robots at Imagine RIT Competition) http://www.rit.edu/imagine/ Teams design and build an autonomous ground vehicle planyourday12/exhibit.php?id=811 capable of completing several difficult challenges Dr. Kolodziej Imaging Science Project Unmanned Aerial Vehicle project for RIT imaging science Dr. Walter Swarm Robots Research (with Dr. Sahin) 2/11/20 Rochester Institute of Technology

12 Autonomy Ideas Potential Ideas Swarm robots application Entry into the Association for Unmanned Vehicle Systems International (AUVSI) RoboSub competition Long term goal Dr. Sahin proposed 2 ideas that the Robotics Club could work on Basic autonomy in an underwater environment Autonomy + Navigation in a GPS-denied underwater environment 2/11/20 Rochester Institute of Technology 13 Agenda

Limited Bandwidth Communication Navigation Systems Autonomy Energy Systems Payloads and Sensor Systems 2/11/20 Rochester Institute of Technology 14 Energy Systems RIT Strengths/Research Thermoelectric Research (Dr. Stevens) Thermoelectric energy recovery

Fuel Cell Research (Dr. Kolodziej & Dr. Kandlikar) PEM Fuel Cell SOFC Fuel Cell Fuel Cell Laboratory Study PEM fuel cells supplied with hydrogen and oxygen Past Senior Design Projects 2/11/20 Solar Stirling Engine Thermoelectric Power Pack Photovoltaic Energy Harvesting Micro-Hydro Generator

Rochester Institute of Technology 15 Energy Systems Project Ideas Thermoelectrics Using excess heat to generate power Heat produced from batteries Heat produced from on-board electronics Would need a method of simulating heat loss within the system Obtain engineering specifications and power inputs Design a system that would simulate these inputs Underwater Solar Panels Absorb energy from the blue-green portion of the visible light spectrum (400 - 700 nanometers) Micro-Hydro Generator Pull behind hydro-foil Propeller turbine 2/11/20

Rochester Institute of Technology 16 Energy Systems Project Ideas Fuel Cell Look at designing a fuel cell that could meet the power requirements Possibly use salt water as an electrolyte with magnesium based fuel cell Stirling Engine Could be used in conjunction with a fuel cell Could be connected to any alternative heat source Salt Water as Fuel Focused on feasibility Look at how RF signals affect the chemical composition of salt water Energy ratios 2/11/20

Rochester Institute of Technology 17 Agenda Limited Bandwidth Communication Navigation Systems Autonomy Energy Systems Payloads and Sensor Systems 2/11/20 Rochester Institute of Technology

18 Innovative Payload and Sensor Ideas Modular sensor interface Creates a customizable end product for the customer Swarm Robotics Opportunity to complete multiple objectives simultaneously during a mission Air Muscle actuated robotic arm Competitors in the oil and gas segment utilize hydraulic actuated robotic arms. RIT has expertise with air muscles and theres an opportunity for them to be a viable alternative to hydraulics 2/11/20 Rochester Institute of Technology

19 Modular Sensor/Payload Interface Central sensor interface that allows customers to easily add additional sensors for specific jobs. Project idea: Swappable bays Set of common sensor packages Oil/Gas Detection Ocean mapping Marine life monitoring Customizable aftermarket bay for customer retrofitting 2/11/20 Rochester Institute of Technology 20 Swarm Robotics Storage

Collaborative small-scale robots that are released by the main vessel. Project ideas: Storage, launch, and collection system Develop a method to safely store robots that also provides an easy and reliable method to release and collect the swarm during operation Possible swappable payload bay 2/11/20 Rochester Institute of Technology 21 Air Muscle Air Muscle actuated Robotic Arm RIT has a significant background in air muscle design and research from several past Senior Design projects Comparable to competitors hydraulic robotic arm

(Kraft TeleRobotics) Advantages Power-to-size ratio greater than hydraulic system Possibility for dexterity (robotic hand as opposed to clamp) Provides more capabilities for the customer Kraft TeleRobotics hydraulic arm Disadvantages Compressor size constraint Non-linear output Vessel redesign to allow additional load support RIT Biomimetic Crab with air muscles 2/11/20 Rochester Institute of Technology 22

Air Muscle Project Ideas: Air muscle design and development for high pressure marine environments Assess the feasibility of using air muscles at great depth in the sea Testing of incompressible fluids as a substitute to air Air muscle actuated arm & hand Design and development of a robotic arm with the dexterity of a hand Glove Control Operator uses glove to control movements of robotic arms 2/11/20 Rochester Institute of Technology

RIT Air Muscle Artificial Limb 23 Summary of Project Ideas Limited Bandwidth Communications Laser-based communication development LED-based communication development Navigation Systems Precision-Based Navigation Capabilities Endurance-Based Navigation Capabilities Energy Systems Optimization (thermoelectrics, underwater solar panels, hydro-foil) New energy system (fuel cell, stirling engine, salt water) Payloads and Sensor Systems Air Muscle actuated robotic arm Storage and launch of swarm robots (dependent on autonomy) Modular Sensor Interface

Autonomy Swarm robots AUVSI Competition Dr. Sahins idea proposals 2/11/20 Rochester Institute of Technology 24 Next Steps RIT Team Develop functional decompositions for project ideas Develop metrics and specifications Brainstorm plausible solutions Boeing/Kevin Provide feedback to RIT Team on project ideas Did we fully capture your needs? Which ideas should be pursued?

Which areas need more direction? 2/11/20 Rochester Institute of Technology 25

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