https://mindworks.shoutwiki.com/w/api.php?action=feedcontributions&user=More8927&feedformat=atomMindworks - User contributions [en]2024-03-29T13:39:58ZUser contributionsMediaWiki 1.35.13https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14592NAVSEA Robosub Competition2015-03-30T23:35:20Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.JPG|300px|thumb|left|Marker Dropper]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Hoist Connection'''</p><br />
<p>Last year's team used 1/4" rope for the hoist connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what is capable of holding 6 solenoids. We will have four in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<li><p>'''Brush Guards'''</p><br />
<p>The submarine operates optimally when it is perfectly balanced. To achieve this we have added guards to both sides and cut them specifically to redistribute weight around the vehicle. In addition to balance, the guards provide stabilization to prevent rolling during strafing as well as protection for crucial mechanical and electrical components during operation. The guards also allow for protection of base components, such as bottom thruster and camera, so the submarine can be set down without damaging hardware.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|650px|thumb|Team Picture taken at the Spring 2015 Design Review]]<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14583NAVSEA Robosub Competition2015-03-30T23:23:42Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.JPG|300px|thumb|left|Marker Dropper]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Hoist Connection'''</p><br />
<p>Last year's team used 1/4" rope for the hoist connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what is capable of holding 6 solenoids. We will have four in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14582NAVSEA Robosub Competition2015-03-30T23:21:54Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.JPG|300px|thumb|left|Marker Dropper]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Hoist Connection'''</p><br />
<p>Last year's team used 1/4" rope for the hoist connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14581NAVSEA Robosub Competition2015-03-30T23:17:38Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.JPG|300px|thumb|left|Marker Dropper]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Lift Connections'''</p><br />
<p>Last year's team used 1/4" rope for the lift connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14580NAVSEA Robosub Competition2015-03-30T23:16:01Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.JPG|300px|thumb|left|Marker Dropper]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Lift Connections'''</p><br />
<p>Last year's team used 1/4" rope for the lift connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14579NAVSEA Robosub Competition2015-03-30T23:15:11Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
[[File:Navsea Robosub 2014 Marker Dropper.jpg|300px|thumb|left|Marker Dropper]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Lift Connections'''</p><br />
<p>Last year's team used 1/4" rope for the lift connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14578NAVSEA Robosub Competition2015-03-30T23:13:55Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
[[File:Navsea_Robosub_2014_Marker_Dropper.jpg|300px|thumb|left|Marker Dropper]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Lift Connections'''</p><br />
<p>Last year's team used 1/4" rope for the lift connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=14577NAVSEA Robosub Competition2015-03-30T23:12:38Z<p>More8927: /* Mechanical */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=Whole_ISO_wiki_subdesign.jpg<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = [http://www.uidaho.edu/engr/me Department of Mechanical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/ee Department of Electrical Engineering]<br />
[http://www.uidaho.edu/engr/cs/ Department of Computer Science]<br />
[http://www.auvsi.org/Home/ Association for Unmanned Vehicle Systems]<br />
[http://www.navsea.navy.mil/default.aspx Naval Sea Systems Command (NAVSEA)]<br />
[http://www.onr.navy.mil/ Office of Naval Research]<br />
[http://robosub.eecs.wsu.edu/ Robosub Club of the Palouse]<br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = University of Idaho Graduate Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = NAVSEA Mentor<br />
|content = Michael Kapus<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
<li>Tyler Jaszkowiak</li><br />
<li>Craig Allen</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
<br />
===Specifications===<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!General Requirements<br />
!Specific Requirements<br />
!Marginal Targets<br />
!Ideal Targets<br />
|-<br />
|rowspan=3 style="padding:5px"|Maneuverable<br />
|style="padding:5px"|Control in linear X,Y,Z directions<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 1.5 ft/s<br />
|style="padding:5px"|Ability to travel in these directions at a rate of 3 ft/s<br />
|-<br />
|style="padding:5px"|Control over yaw<br />
|style="padding:5px"|Rotation of 360° in under 10 seconds<br />
|style="padding:5px"|Rotation of 360° in under 6 seconds<br />
<br />
|-<br />
|style="padding:5px"|Minor Control over roll and pitch<br />
|style="padding:5px"|Corrections to roll or pitch within 2 seconds<br />
|style="padding:5px"|Corrections to roll or pitch within 1 seconds<br />
|-<br />
|rowspan=3 style="padding:5px"|Stable<br />
|style="padding:5px"|Statically Stable<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy<br />
|style="padding:5px"|Center of mass bellow the center of buoyancy and balanced across centerlines<br />
|-<br />
|style="padding:5px"|Dynamically Stable<br />
|style="padding:5px"|Ability to travel 10 ft with minor corrections<br />
|style="padding:5px"|Ability to travel 30 ft with no corrections<br />
|-<br />
|style="padding:5px"|Positively Buoyant<br />
|style="padding:5px"|Buoyant by at least .5% of mass<br />
|style="padding:5px"|Buoyant by exactly .5% of mass<br />
|-<br />
|rowspan=2 style="padding:5px"|Reliable<br />
|style="padding:5px"|Watertight housings<br />
|style="padding:5px"|Watertight up to 30 ft depths<br />
|style="padding:5px"|Watertight up to 50 ft depths<br />
|-<br />
|style="padding:5px"|Electronics remain cool<br />
|style="padding:5px"|Continuous operation time of 1 hour<br />
|style="padding:5px"|Unlimited continuous operation time<br />
|-<br />
|rowspan=2 style="padding:5px"|Small size and Low Weight<br />
|style="padding:5px"|Small outer dimensions<br />
|style="padding:5px"|6' x 3' x 3'<br />
|style="padding:5px"|Less than 6' x 3' x 3'<br />
|-<br />
|style="padding:5px"|Low weight in air<br />
|style="padding:5px"|Less than 125lb<br />
|style="padding:5px"|Less than 48.5lb<br />
|-<br />
|rowspan=3 style="padding:5px"|Easy to work on<br />
|style="padding:5px"|Modular components<br />
|style="padding:5px"|Some systems can be separated<br />
|style="padding:5px"|All main systems can be separated<br />
|-<br />
|style="padding:5px"|Replacement Parts<br />
|style="padding:5px"|Main components can be replaced in 30 minutes<br />
|style="padding:5px"|Main and minor components can be replaced in 20 minutes<br />
|-<br />
|style="padding:5px"|Easy to transport and store<br />
|style="padding:5px"|Easily carried by two people<br />
|style="padding:5px"|Easily carried by two people with a special container and stand<br />
|-<br />
|rowspan=3 style="padding:5px"|Accurate Peripherals<br />
|style="padding:5px"|Accurate Torpedo Launchers<br />
|style="padding:5px"|Torpedoes able to hit 12" target from a distance of 2 ft<br />
|style="padding:5px"|Torpedoes able to hit 7" target from a distance of 2 ft<br />
|-<br />
|style="padding:5px"|Accurate marker droppers<br />
|style="padding:5px"|Marker dropped within a 6" radius over a 3' distance<br />
|style="padding:5px"|Marker dropped within a 2" radius over a 3' distance<br />
|-<br />
|style="padding:5px"|Consistent PVC grabber<br />
|style="padding:5px"|Grasps and Releases PVC structure almost every time<br />
|style="padding:5px"|Grasps and Releases PVC structure every time<br />
|-<br />
|rowspan=3 style="padding:5px"|Safe<br />
|style="padding:5px"|Low open circuit voltage<br />
|style="padding:5px"|Less than 60VDC<br />
|style="padding:5px"|Less than 30VDC<br />
|-<br />
|style="padding:5px"|Prop shrouds<br />
|style="padding:5px"|At least 2" distance between prop and edges of shroud<br />
|style="padding:5px"|Shrouds and guards<br />
|-<br />
|style="padding:5px"|Easy-to-Operate kill switches<br />
|style="padding:5px"|Clearly marked and readily activated<br />
|style="padding:5px"|Clearly marked and readily activated with protection against accidental operation<br />
|-<br />
|style="padding:5px"|Responsive<br />
|style="padding:5px"|Keyboard input operates the thrusters<br />
|style="padding:5px"|All thrusters are controlled by keyboard<br />
|style="padding:5px"|Commands will effectively use all relevant thrusters to accomplish requested task<br />
|}<br />
<br />
==Project Learning==<br />
Organized by Team<br />
<br />
<ul><br />
===Mechanical Engineering===<br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
[[File:Old_Battery_Tube.png|350px|thumb|right|2014 Battery Tube Design]]<br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping during testing. This saves the team critical time that would otherwise be wasted with the monotonous activity replacing the battery inside its waterproof casing, rather than just swapping out the case .</p><br />
</li><br />
[[File:Mechanical_systems.png|350px|thumb|right|2014 Bottom Claw, Forward Grabber, and Marker Dropper Systems]]<br />
<li><p>'''Bottom Claw Systems'''</p><br />
<p>Design and manufacture bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time.</p><br />
</li><br />
<li><p>'''Pin Removal System'''</p><br />
<p>Design and manufacture a pin removal System (PRS) for the sub that will operate using pneumatics. Mounted to the front of the sub the PRS will be used for removing a magnetic pin from a wall and reattach it in an alternate place . </p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p> <br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. This is important because the competition rules states that “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<br />
===Computer Science===<br />
<br />
<li><p>'''New Cameras'''</p><br />
[[File:2014_NavseaRobosub_FleaCamera.jpeg|link=http://www.ptgrey.com/flea3-14-mp-color-gige-vision-sony-icx267-camera|250px|thumb|right|Point Grey Flea3 Camera]]<br />
[[File:2014_NavseaRobosub_OpenCVlogo.png|250px|thumb|right|Common and robust computer vision library]]<br />
<p>The Robosub will be getting new cameras that have fish eye lenses. Calibration will be necessary to remove the radial distortion (fish-eye effect) and tangential distortion (distortion caused when the lens is not parallel to the plane). Since the front of the sub will have two cameras we will also need stereoscopic calibration.</p><br />
</li><br />
<li><p>'''Computer Vision'''</p><br />
<p>The Robosub's vision components are being redesigned from the ground up to include dynamic filter tree systems to improve aquatic object recognition. The OpenCV library will be used heavily in the implementation. The vision will be an area with constant room for improvement, however the direct goals are to successfully identify various shapes and sizes of colored objects in a pool, regardless of interference surface light. </p><br />
</li><br />
<li><p>'''Artificial Intelligence'''</p><br />
<p>The artificial intelligence needed for the Robosub to complete tasks requires a fresh implementation of mission/task controllers. These systems will correctly prioritize and communicate actions back to the rest of the submarine through the network communications hub.</p><br />
</li><br />
<li><p>'''Simulation Environment'''</p><br />
<p>The Robosub relies heavily on pool tests for testing and they only happen once a month. Simulation environments are being researched to work around this problem. With such an environment tests could be run regardless of even having the sub or a pool.</p><br />
</li><br />
<li><p>'''Movement Logic'''</p><br />
<p>The movement systems rely upon 'fuzzy logic' so as to keep the Robosub's movement responses smooth and consistent. It must be able to keep consistent depth despite natural buoyancy while responding to the AI's requests for movement in a timely and controlled fashion.</p><br />
</li><br />
<br />
===Electrical Engineering===<br />
<br />
<li><p>'''Printed Circuit Board Redesign'''</p><br />
<p>After last years competition it became clear the current printed circuit boards (PCBs) have multiple errors in their component layout and functionality. Several component footprints must be reconfigured and incorrect component values must be replaced.</p><br />
</li><br />
<li><p>'''Printed Circuit Board Edge Connectors'''</p><br />
<p>The current printed circuit boards are difficult to remove from the sub due to a rat's nest of wires connected to the boards. The new boards will have edge connectors implemented into their design to allow for quick removal and to decrease the chances of damage to the boards from excessive handling.</p><br />
</li><br />
<li><p>'''Microcontroller Code Organization'''</p><br />
<p>The submarine microcontroller code that was previously written wasn't thoroughly checked and debugged before the competition in the summer of 2014. Each microcontroller file must be meticulously verified and documented in an online drive account hosted by Robosub of the Palouse. </p><br />
</li><br />
</ul><br />
<br />
==Current Designs==<br />
<span><br />
===Mechanical===<br />
<br />
[[File:Hydrophone_mount.jpg|300px|thumb|left|Hydrophone Testing Bracket]]<br />
[[File:Iso_with_camera_wiki.jpg|300px|thumb|left|Camera Housing]]<br />
[[File:New_Battery_Tube.png|300px|thumb|left|2015 Battery Tube]]<br />
[[File:Sub_Stand.jpg|300px|thumb|left|Sub Stand w/Sub attached]]<br />
[[File:Navsea_robosub_2014_marker_dropper.jpg|300px|thumb|left|Marker Dropper]]<br />
<li><p>'''Hydrophone Test Bracket'''</p><br />
<p>Since the Robosub project requires students from both University of Idaho and Washington State University to work together in producing an autonomous submarine, it is easy to see how a problem would arise in submarine possession. Instead of having to leave the submarine at WSU so the Electrical Engineers could test the hydrophone system, we created a mock-up of the front end of the sub which includes brackets to hold the hydrophones so we can keep the sub at the University of Idaho to further our progress on different projects.</p><br />
</li><br /><br />
<li><p>'''Camera Housing'''</p><br />
<p>The Computer Science and Electrical Engineering teams have chosen a new camera for the 2014-2015 submarine. With this the mechanical engineering team has designed and built underwater housings that properly stabilize the cameras while protecting them from not only water, but other types of physical damage as well. Three cameras will be mounted in different locations around the sub. Locations include two forward for main vision and one on bottom for location of target/deployment of markers with the newly designed marker dropper system.</p><br />
</li><br /><br />
<li><p>'''Marker Droppers'''</p><br />
<p>The previous years marker droppers were integrated into their forward claw which we wanted to separate and design an independent system for. The design is similar to that of a couple years ago where a pneumatic actuator is mounted with one end fixed and the other variable, depending on if the cylinder is in on/off position. The system is then sent a signal to either open or close depending on the action the sub wishes to take. When the submarine enters the water the position is closed. Once the sub reaches the obstacle requiring it's operation, which the camera and AI will identify, the cylinder is actuated pulling back a slide, letting the "marker" drop into the designated target location. With how simple this system has been built, we not only hope to have high target efficiency, but reliability as well.</p><br />
</li><br /><br />
<li><p>'''Lift Connections'''</p><br />
<p>Last year's team used 1/4" rope for the lift connections when picking up/setting down the submarine into the pool. At competition last year the divers and lift operator were confused when it came to how to make and remove the connections. To avoid this confusion, as well as make a safer system, we have decided to simply remove the rope and, in its stead, use eye bolts. Not only do they have much more strength but this will be easier for the divers to identify how to hook up the sub.</p><br />
</li><br /><br />
<li><p>'''Battery Tube'''</p><br />
<p>This year both the Electrical Engineering and Computer Science teams requested an alternate battery tube for hot swapping during pool sessions. With this we decided to take it a step further and alter the current battery tube to gain more points in the presentation portion of the Robosub competition. While the previous design included an aluminum cylinder that housed the battery, we decided to change the material to acrylic as well as include blue LED's for a more aesthetically pleasing design. We also chose to remount the battery tube in he aft of the submarine allowing room for the new pneumatic housing that will be worked on second semester.</p><br />
</li><br /><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>The pneumatic housing will be a 3-D printed box what will keep the 6 solenoids waterproofed. We will have six in total, two for the torpedo launcher, two for the marker dropper system, and two extra in case they are needed for next year's competition. The solenoid we've decided on is the same one that was used two years ago by the 2012-2013 team (Clippard MME-41NES-D012). It proved to be reliable for their competition and with its simple mounting procedures it will make for an easy addition anywhere we choose to place it.</p><br />
</li><br /><br />
<li><p>'''Sub Stand'''</p><br />
<p>Due to the submarine's inability to be fully assembled while sitting on a table (BCS disrupts its safe static positioning), we are forced to remove the claw to work on it. To alleviate this problem we have decided to design a stand that will hold the sub when it is out of water. Features include up/down maneuverability, set rotation at 45° angles, and all terrain wheels. Current scope involves designing/building a stand and verifying it will hold the required weight. Next semester, if time permits, a acrylic case will be added for presentation.</p><br />
</li><br /><br /><br />
<br />
===Software===<br />
'''Architecture'''<br />
[[File:2014_NavseaRobosub_ModuleLayout.png|right|Simplified Robosub Module Hierarchy]]<br />
Each module of the Robosub must be able to effectively communicate with other modules in a timely fashion. The communication model is that of publishers and subscribers, with each module broadcasting updates on their respective processes to be received by each subscribed module. Modules also form a tree of children and parent ownership to accomplish their various tasks.<br />
<br />
[[File:2014_NavseaRobosub_CameraCalibration.jpg|300px|thumb|left|Camera calibration program]]<br />
<br />
'''Vision'''<br />
<ul><br />
<li>Filter Tree - The Robosub will employ a variety of video filtering techniques in order to address the vehicle's various needs. These combinations of compatible and incompatible filters will form a tree of outputs each with specific goals such distance filtering, object detection, etc.<br />
<li>Filter GUI - Manipulating these filter combinations will often require a human element, and so requires a simple GUI for calibration in varying environments.<br />
<li>Object Detection - Using the edge detection algorithms, the vision module will report sighted objects of classic geometries to the artificial intelligence.<br />
<li>Calibration - The cameras will need calibration settings in order to account for camera defects as well as the wide visual perspectives provided by the new fisheye lenses.<br />
</ul><br />
<br /><br />
<br /><br />
'''Movement'''<br />
{| style="color: black; background-color: #ccc; margin: auto" width="75%"<br />
| colspan="2" | The sub needs to be able to maintain a steady position as well as move to a target position. In order to accomplish this in an aquatic environment full of uncertainty, we will make use of fuzzy logic controllers. Last year's home-made 'fuzzy logic' system was missing several critical pieces of fuzzy logic controllers. The Fuzzy-Lite library will enable us to have accurate calculations for the fuzzy logic controllers to rely upon, but the logical design and consequence must still be fine tested and fine tuned.<br />
|-<br />
| style="background-color: white; border: 5px solid #ccc"|[[File:2014_NavseaRobosub_Movement_Fuzzy_Logic.png|x400px|center]]<br />
| style="background-color: white; border: 5px solid #ccc"| [[File:2014_NavseaRobosub_Movement_Fuzzy_Logic_Example.png|x400px]]<br />
|}<br />
'''AI'''<br />
<ul><br />
<li>Mission Planner - The Robosub will need to be adaptable to a variety of planned mission types, with varying degrees of priority. This system will allow for preflight mission planning. These mission plans will also be saved and be able to be replayed for repeated testing, or similar objectives.<br />
<li>Task Controller - This will handle the individual tasks such as start gate, and call specific task modules. These include dive, move and whatever other simple commands we can give.<br />
</ul><br />
<br />
===Electrical===<br />
<li><p>'''PCB Redesign'''</p><br />
<p>The current circuit board system is difficult to maneuver due to the excessive wires. The large number of connections also cause excessive wear on the circuit boards when trying to remove them from the sub. The new system will feature PCBs with edge connectors that will allow for easy and quick removal of the boards and result in more space inside the sub.</p><br />
</li><br />
{| class="wikitable" style="text-align: center;" width="95%"<br />
|- <br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-ratnest-picture.jpg|center|300px]]<br />
|style="width: 50%;"|<br />
[[File:CAMERONS - robosub-new-edgeconnector-picture.jpg|center|300px]]<br />
|-<br />
|Current system is cluttered and difficult to troubleshoot.<br />
|New system will allow for quick removal and inspection.<br />
|}<br />
<br />
==Team Information==<br />
<br />
[[File:2015_Robosub_Team_Photo.jpg|center|600x335px|frame|Team Picture taken at the Spring 2015 Design Review]]<br />
<br />
{| class="wikitable" style="margin: auto; width: 80%"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:center"|[[File:ChetMcKinnon_capstone.png|100x100px]]<br />
|style="padding:5px"|'''Chet McKinnon:''' Chet is a senior at the University of Idaho and working towards his Bachelor of Science in Mechanical Engineering. He hopes to pursue his interests in robotics and fluid mechanics/dynamics with the Robosub project and looks to continue his work after the project with graduate studies. In his spare time he enjoys being outside and spending time with friends/family. Hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music (both saxophone and guitar), cooking and much more. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:Michael_Moreno_capstone.jpg|100x100px]]<br />
|style="padding:5px"|'''Michael Moreno:''' A mechanical engineering/ applied physics student at the University of Idaho, Michael Moreno has been working with robotics since sophomore year in high school when he originally competed in this same competition with Riverbend Technical Academy. His interests are designing cool things, playing video games, and socializing. After he graduates he plans to start his own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|[[File:WoovinYi.jpg|100x100px]]<br />
|style="padding:5px"|'''Woovin Yi:''' He is a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. He plans on graduating in spring 2015. Some of his interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:center"|[[File:2014_Robosub_codyprofile.jpg|100x100px]]<br />
|style="padding:5px"|'''Cody Litzko:'''Cody is a senior Mechanical Engineering student at the University of Idaho. Very involved in his fraternity he has held seats of president, scholarship chairman, and new member educator. He chose the field of mechanical engineering after spending much of his childhood in his father’s automotive shop learning how to fix simple problems and tearing apart components to figure out how they work. Through this he found a love for machines, and the physical components that make them up.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|[[File:2014_NavseaRobosub_JeffCrocker.jpg|100x100px]]<br />
|style="padding:5px"|'''Jeff Crocker:''' As a senior working towards a degree in Computer Science, Jeff expects to graduate in the Spring of 2015. His particular areas of focus are security and front-end development. He is a double major in Physics, and hopes to apply the numerical methods used in Physics to improve the behavior and design of the Robosub.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:!50696374757265206f66206d652033.png|100x100px]]<br />
|style="padding:5px"|'''Sean Shepherd:''' Sean is a senior in Computer Science. He started out as a Mechanical engineer, switched to Electrical engineer, and after his first computer science class he switched majors. He plans on graduating in the spring of 2016. Sean loves to talk about artificial intelligence and philosophy given the opportunity.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|<br />
[[File:tjasz.jpg|100x100px]]<br />
|style="padding:5px"|'''Tyler Jaszkowiak:''' Tyler is a pursuing Bachelor of Science degrees in Mathematrics and Computer Science at the University of Idaho. His research interests include artificial intelligence, which was a large incentive for getting involved with this project. He is involved on campus both as a member of the Homecoming Committee and an executive in his fraternity. Additional hobbies include running, water sports, and watching TV.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:center"|<br />
[[File:CAMERONS - WIN 20141208 092808 (2).JPG|100x100px]]<br />
|style="padding:5px"|'''Cameron Morton:''' Cameron is a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. He has always been a very hands-on person with a passion for engineering. One of his first memories as a child was him trying to build a TV set from random electronic garbage and a cardboard box that he found out on the curb of his street. When not at school he enjoys time with his wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]<br />
<br />
[[Media:2014_NavseaRobosub_TeamPicture.png|Team Picture]]<br />
<br />
[[Media:2014_SubXero_Team_Agenda.pdf|Agenda]]<br />
<br />
[[Media:2015_SubXero_Team_Meeting_Minutes.pdf|Meeting Minutes]]<br />
<br />
[[Media:2014_SubXero_Fall_Design_Review.pdf|Fall Design Review]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=File:Navsea_Robosub_2014_Marker_Dropper.JPG&diff=14576File:Navsea Robosub 2014 Marker Dropper.JPG2015-03-30T23:09:33Z<p>More8927: Marker Dropper 2015</p>
<hr />
<div>Marker Dropper 2015</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=12010NAVSEA Robosub Competition2014-10-30T23:49:56Z<p>More8927: /* Design Objectives */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<ul><br />
<li>Going through a starting gate</li><br />
<li>Navigating from task site to task site on a course using visual and audio cues</li><br />
<li>Dropping markers at specified locations</li><br />
<li>Picking up, carrying, and dropping specified objects</li><br />
<li>Accurately deploying torpedoes at targets</li><br />
<li>Completing physical puzzles using a manipulative arm</li><br />
</ul><br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<ul><br />
<li>Team Website</li><br />
<li>Technical merit (Journal)</li><br />
<li>Written Style (Journal)</li><br />
<li>Tech accomplishments</li><br />
<li>Craftsmanship</li><br />
<li>Team Uniform</li><br />
<li>Team Video</li><br />
<li>Discretionary Static Points</li><br />
</ul><br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping. This saves the team critical time that would otherwise be wasted with the monotonous activity of taking out and replacing the battery inside its waterproof casing.</p><br />
</li><br />
<li><p>'''Front and Bottom Claw Systems'''</p><br />
<p>Design and manufacture both front and bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time. It’s most likely that the front and bottom claws will function in the same way the only difference being the gauge of the material used to make the claws and the size of the actuators.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p><br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. Important because “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<li><p>'''Hydrophone Bracket'''</p><br />
<p></p><br />
</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
<p>Dependent upon major design decisions</p><br />
<p>NOTE: None made to date</p><br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Michael Moreno:''' I am a mechanical engineering/ applied physics student at the University of Idaho. I have been working with robotics since sophomore year in high school when I originally competed in this competition with Riverbend Technical Academy. My interests are designing cool things, playing video games, and socializing. After I graduate I plan to start my own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cody Litzko:'''I’m a senior mechanical engineering student at the University of Idaho. I am very involved in my fraternity and have held seats of president, scholarship chairman, and new member educator. I chose the field of engineering after spending much of my childhood in my father’s automotive shop fixing simple problems and tearing apart components to figure out how they work.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Sean Shepherd:''' I'm a senior in Computer Science. I started out as a Mechanical engineer, switched to Electrical engineer, and after my first computer science class I switched majors. I plan on graduating in the spring of 2016. I love artificial intelligence and philosophy and will talk about both at length given the chance.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=12009NAVSEA Robosub Competition2014-10-30T23:46:48Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• Going through a starting gate<br />
• Navigating from task site to task site on a course using visual and audio cues<br />
• Dropping markers at specified locations<br />
• Picking up, carrying, and dropping specified objects<br />
• Accurately deploying torpedoes at targets<br />
• Completing physical puzzles using a manipulative arm<br />
<br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<br />
<p>Team Website</p><br />
<p>Technical merit (Journal)</p><br />
<p>Written Style (Journal)</p><br />
<p>Tech accomplishments</p><br />
<p>Craftsmanship</p><br />
<p>Team Uniform</p><br />
<p>Team Video</p><br />
<p>Discretionary Static Points</p><br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li><p>'''Additional Battery Tube'''</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping. This saves the team critical time that would otherwise be wasted with the monotonous activity of taking out and replacing the battery inside its waterproof casing.</p><br />
</li><br />
<li><p>'''Front and Bottom Claw Systems'''</p><br />
<p>Design and manufacture both front and bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time. It’s most likely that the front and bottom claws will function in the same way the only difference being the gauge of the material used to make the claws and the size of the actuators.</p><br />
</li><br />
<li><p>'''New Pneumatic Housing'''</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p><br />
</li><br />
<li><p>'''Electronics Bracket'''</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>'''Marker Dropper'''</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>'''Bouyancy'''</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. Important because “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<li><p>'''Hydrophone Bracket'''</p><br />
<p></p><br />
</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
<p>Dependent upon major design decisions</p><br />
<p>NOTE: None made to date</p><br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Michael Moreno:''' I am a mechanical engineering/ applied physics student at the University of Idaho. I have been working with robotics since sophomore year in high school when I originally competed in this competition with Riverbend Technical Academy. My interests are designing cool things, playing video games, and socializing. After I graduate I plan to start my own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cody Litzko:'''I’m a senior mechanical engineering student at the University of Idaho. I am very involved in my fraternity and have held seats of president, scholarship chairman, and new member educator. I chose the field of engineering after spending much of my childhood in my father’s automotive shop fixing simple problems and tearing apart components to figure out how they work.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Sean Shepherd:''' I'm a senior in Computer Science. I started out as a Mechanical engineer, switched to Electrical engineer, and after my first computer science class I switched majors. I plan on graduating in the spring of 2016. I love artificial intelligence and philosophy and will talk about both at length given the chance.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=12007NAVSEA Robosub Competition2014-10-30T23:45:44Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• Going through a starting gate<br />
• Navigating from task site to task site on a course using visual and audio cues<br />
• Dropping markers at specified locations<br />
• Picking up, carrying, and dropping specified objects<br />
• Accurately deploying torpedoes at targets<br />
• Completing physical puzzles using a manipulative arm<br />
<br />
How well each task is completed goes towards the overall team score for the competition. Other scoring can be attributed to subjective scoring.<br />
<br />
These tasks include:<br />
<br />
Team Website<br />
Technical merit (Journal)<br />
Written Style (Journal)<br />
Tech accomplishments<br />
Craftsmanship<br />
Team Uniform<br />
Team Video<br />
Discretionary Static Points<br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li><p>Additional Battery Tube</p><br />
<p>Make an additional waterproof carrying tube for the sub’s battery which allows for hot swapping. This saves the team critical time that would otherwise be wasted with the monotonous activity of taking out and replacing the battery inside its waterproof casing.</p><br />
</li><br />
<li><p>Front and Bottom Claw Systems</p><br />
<p>Design and manufacture both front and bottom claws for the sub that will operate using pneumatics. We want to put multiple less robust claws on the bottom so that we have the opportunity to grab more than one object at a time. It’s most likely that the front and bottom claws will function in the same way the only difference being the gauge of the material used to make the claws and the size of the actuators.</p><br />
</li><br />
<li><p>New Pneumatic Housing</p><br />
<p>Currently we only have one system running off of air. We are planning on switching both of the claws, forward and bottom, to pneumatics. To do this we will need a new pneumatic housing to hold all of the required components. Not only does the size of the tube need to change, but also location.</p><br />
</li><br />
<li><p>Electronics Bracket</p><br />
<p>The current 3d printed brackets allows for too much of the electronic piece to be open to the environment. This causes a problem for other electronics due to the majority of the piece being exposed while electricity is running through it. A new design is needed to fully house the piece while only allowing the pins on the top to be exposed.</p><br />
</li><br />
<li><p>Marker Dropper</p><br />
<p>The current marker dropper system on the submarine is integrated into the forward claws. This year we would like to separate the two systems so neither relies upon the other. We want all of our systems to work independently of one another. This should allow us to build specific designs which alternatively may help increase the accuracy and speed of each. Markers must be expendable.</p><br />
</li><br />
<li><p>Bouyancy</p><br />
<p>Confirm the new volume of the submarine to determine 0.5% of total mass and buoyancy. Important because “All vehicles must be buoyant by at least one half of one percent (0.5%) of their mass when they have been shut off through the kill switch.”</p><br />
</li><br />
<li><p>Hydrophone Bracket</p><br />
<p></p><br />
</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
<p>Dependent upon major design decisions</p><br />
<p>NOTE: None made to date</p><br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Michael Moreno:''' I am a mechanical engineering/ applied physics student at the University of Idaho. I have been working with robotics since sophomore year in high school when I originally competed in this competition with Riverbend Technical Academy. My interests are designing cool things, playing video games, and socializing. After I graduate I plan to start my own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cody Litzko:'''I’m a senior mechanical engineering student at the University of Idaho. I am very involved in my fraternity and have held seats of president, scholarship chairman, and new member educator. I chose the field of engineering after spending much of my childhood in my father’s automotive shop fixing simple problems and tearing apart components to figure out how they work.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Sean Shepherd:''' I'm a senior in Computer Science. I started out as a Mechanical engineer, switched to Electrical engineer, and after my first computer science class I switched majors. I plan on graduating in the spring of 2016. I love artificial intelligence and philosophy and will talk about both at length given the chance.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=12003NAVSEA Robosub Competition2014-10-30T23:37:08Z<p>More8927: /* Team Information */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• Going through a starting gate<br />
• Navigating from task site to task site on a course using visual and audio cues<br />
• Dropping markers at specified locations<br />
• Picking up, carrying, and dropping specified objects<br />
• Accurately deploying torpedos at targets<br />
• Completing physical puzzles using a manipulative arm<br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li>Additional Battery Tube</li><br />
<li>Front and Bottom Claw Systems</li><br />
<li>Torpedo Reconstruction</li><br />
<li>New Pneumatic Housing</li><br />
<li>Electronics Bracket</li><br />
<li>Marker Dropper</li><br />
<li>Bouyancy</li><br />
<li>Hydrophone Bracket</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Michael Moreno:''' I am a mechanical engineering/ applied physics student at the University of Idaho. I have been working with robotics since sophomore year in high school when I originally competed in this competition with Riverbend Technical Academy. My interests are designing cool things, playing video games, and socializing. After I graduate I plan to start my own design firm with a specialty in robotics.<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cody Litzko:'''I’m a senior mechanical engineering student at the University of Idaho. I am very involved in my fraternity and have held seats of president, scholarship chairman, and new member educator. I chose the field of engineering after spending much of my childhood in my father’s automotive shop fixing simple problems and tearing apart components to figure out how they work.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Sean Shepherd:''' I'm a senior in Computer Science. I started out as a Mechanical engineer, switched to Electrical engineer, and after my first computer science class I switched majors. I plan on graduating in the spring of 2016. I love artificial intelligence and philosophy and will talk about both at length given the chance.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=12000NAVSEA Robosub Competition2014-10-30T23:26:18Z<p>More8927: /* Team Information */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li>Additional Battery Tube</li><br />
<li>Front and Bottom Claw Systems</li><br />
<li>Torpedo Reconstruction</li><br />
<li>New Pneumatic Housing</li><br />
<li>Electronics Bracket</li><br />
<li>Marker Dropper</li><br />
<li>Bouyancy</li><br />
<li>Hydrophone Bracket</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Sean Shepherd:''' I'm a senior in Computer Science. I started out as a Mechanical engineer, switched to Electrical engineer, and after my first computer science class I switched majors. I plan on graduating in the spring of 2016. I love artificial intelligence and philosophy and will talk about both at length given the chance.<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11999NAVSEA Robosub Competition2014-10-30T22:57:28Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Projects===<br />
<ul><br />
<li><p>'''Sub Stand'''</p><br />
<p>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<p>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.</p><br />
</li><br />
<li><p>'''Camera Waterproofing'''</p><br />
<p>The cameras selected by the other teams will be mounted to the sub and waterproofed by the mechanical engineering team. They will need to be mounted such that they will perform as required for the competition, but do not interfere with other devices.</p> <p>Depending on the cameras selected, the mechanical engineering team will first search for predesigned and waterproof certified cases. If no such cases are available, the mechanical engineering team will design cases that will be capable of being placed underwater to the max depth of the arena. Mounting will be designed accordingly to work with the case</p><br />
</li><br />
<li>Additional Battery Tube</li><br />
<li>Front and Bottom Claw Systems</li><br />
<li>Torpedo Reconstruction</li><br />
<li>New Pneumatic Housing</li><br />
<li>Electronics Bracket</li><br />
<li>Marker Dropper</li><br />
<li>Bouyancy</li><br />
<li>Hydrophone Bracket</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11998NAVSEA Robosub Competition2014-10-30T22:55:04Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Projects===<br />
<ul><br />
<li>'''Sub Stand'''<br />
<br>The submarine stand will make for better presentation and easier repairs/modifications. The stand is intended to both hold the sub and allow the user to rotate it along a central axis running parallel to the electrical components bay. This should be fairly easy to accomplish since it is fairly similar to an engine stand.</p><br />
<br>This project will be completed by first examining current device that perform similarly to this one. If a device is readily available that can be modified, this option will be explored first. If not, the device will be engineered similarly, but customized for our particular needs.<br />
</li><br />
<li>Camera Waterproofing</li><br />
<li>Additional Battery Tube</li><br />
<li>Front and Bottom Claw Systems</li><br />
<li>Torpedo Reconstruction</li><br />
<li>New Pneumatic Housing</li><br />
<li>Electronics Bracket</li><br />
<li>Marker Dropper</li><br />
<li>Bouyancy</li><br />
<li>Hydrophone Bracket</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11997NAVSEA Robosub Competition2014-10-30T22:51:34Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Projects===<br />
<ul><br />
<li>Sub Stand</li><br />
<li>Camera Waterproofing</li><br />
<li>Additional Battery Tube</li><br />
<li>Front and Bottom Claw Systems</li><br />
<li>Torpedo Reconstruction</li><br />
<li>New Pneumatic Housing</li><br />
<li>Electronics Bracket</li><br />
<li>Marker Dropper</li><br />
<li>Bouyancy</li><br />
<li>Hydrophone Bracket</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11996NAVSEA Robosub Competition2014-10-30T22:49:07Z<p>More8927: /* Projects */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal for the year is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and competition needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Projects===<br />
<ul><br />
<li>Sub Stand</li><br />
<li>Camera Waterproofing</li><br />
<li>Extra Battery Tube</li><br />
<li>Extra Battery Tube</li><br />
<li>Extra Battery Tube</li><br />
<li>Extra Battery Tube</li><br />
<li>Extra Battery Tube</li><br />
<li>Extra Battery Tube</li><br />
</ul><br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11993NAVSEA Robosub Competition2014-10-30T22:44:33Z<p>More8927: /* Team Information */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and client needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Design Objectives===<br />
The Autonomous Submarine must be able to complete numerous tasks designated by the competition. <br />
<br />
These tasks include:<br />
<br />
• <br />
•<br />
•<br />
•<br />
•<br />
•<br />
<br />
===Main Goals===<br />
<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Woovin Yi:''' I am a South Korean American Senior student at University of Idaho working on a Bachelors of Science degree in Mechanical Engineering. I plan on graduating in spring 2015. My interests include socializing, playing piano, swimming, basketball, going to the gym, and watching t.v./movies.<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=NAVSEA_Robosub_Competition&diff=11989NAVSEA Robosub Competition2014-10-30T22:42:04Z<p>More8927: /* Team Information */</p>
<hr />
<div>{|{{InfoboxBegin<br />
|image=2014 robosub Full Assembly.jpg<br />
|caption= To come<br />
}}<br />
{{InfoboxEntry<br />
|title = Sponsors<br />
|content = <br />
<ul><br />
<li>On the way!</li><br />
</ul><br />
}}<br />
{{InfoboxEntry<br />
|title = Team Name<br />
|content = Sub X.E.R.O.<br />
}}<br />
{{InfoboxEntry<br />
|title = Duration<br />
|content = Fall 2014 - Summer 2015<br />
}}<br />
{{InfoboxEntry<br />
|title = Lead Instructor<br />
|content = [http://www.uidaho.edu/engr/me/faculty/matthewriley Dr. Matthew Riley]<br />
}}<br />
{{InfoboxEntry<br />
|title = Mentor<br />
|content = Sam Qualls<br />
}}<br />
{{InfoboxEntry<br />
|title = Robosub Club President<br />
|content = Haily Holt<br />
}}<br />
{{InfoboxEntry<br />
|title = [[NAVSEA_Robosub_Competition#Team_Information | Members]]<br />
|content =<br />
<ul><br />
<li>Chet McKinnon</li><br />
<li>Michael Moreno</li><br />
<li>Woovin Yi</li><br />
<li>Cody Litzko</li><br />
<li>Jeff Crocker</li><br />
<li>Sean Shepherd</li><br />
<li>Cameron Morton</li><br />
</ul><br />
}}<br />
|}<br />
<br />
The Naval Sea Systems Command (NAVSEA) sponsors an annual competition for autonomous robotic submarines (Robosubs). The competition is hosted in San Diego, CA, and challenges engineering skills across multiple disciplines. The competition team brings together engineers from across the Palouse, but this page highlights the efforts of the University of Idaho Capstone Design team.<br />
<br />
==Problem Definition==<br />
Our main goal is to design and produce a working, autonomous submarine capable of completing specified goals and tasks while meeting club and client needs and requirements<br />
===Background===<br />
Launched in 1997 and co sponsored by the Association for Unmanned Vehicle Systems International (AUVSI) and the Office of Naval Research (ONR), the goal of Robosub is to advance development of Autonomous Underwater Vehicles (AUVs) by challenging new generations of engineers to perform realistic missions in an underwater environment. The competition is open to high school and college teams from around the world and is held each year at the U.S. Navy Space and Naval Warfare Systems Center Pacific's TRANSDEC Anechoic pool in San Diego, CA.<br />
<br />
===Deliverables===<br />
Filler Text<br />
===Specifications===<br />
Filler Text<br />
<br />
==Project Learning==<br />
Filler Text<br />
<br />
==Team Information==<br />
{| class="wikitable" width="800"<br />
!Picture<br />
!Bio<br />
!Dicipline<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Chet McKinnon:''' I am a senior at the University of Idaho and working toward my Bachelor or Science in Mechanical Engineering. I transferred from Spokane Falls Community College after my sophomore year and haven't looked back since. Both institutions have given me great opportunities to pursue my goals and I can definitely attribute some of my success to the amazing faculty at each. It was in high school where I discovered my passion for engineering and as my education progresses I would like to keep a small focus on robotics but also love all different aspects of my field; I don't think there has been anything in the curriculum I haven't liked. In my spare time I really enjoy being outside and spending time with friends/family. My hobbies include snowboarding, cliff diving, mountain biking, listening as well as playing music, cooking and much more. I'm a very rounded individual with many different interests who loves to learn all types of new things. <br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Michael Moreno<br />
|style="padding:5px"|ME and PHYS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Woovin Yi<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Cody Litzko<br />
|style="padding:5px"|ME<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Jeff Crocker<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|Sean Shepherd<br />
|style="padding:5px"|CS<br />
|-<br />
|style="text-align:left"|'''Picture'''<br />
|style="padding:5px"|'''Cameron Morton:''' I’m a senior in Electrical Engineering at the University of Idaho emphasizing in circuit design and electronics. I’m a very hands-on person with a passion for engineering. One of my first memories is trying to build a TV set from random electronic garbage and a cardboard box I found out on the curb of our street. When not at school I enjoy time with my wife and three children.<br />
|style="padding:5px"|EE<br />
|}<br />
<br />
==Document Archive==<br />
[[Media:2014_NavseaRobosub_ClientInterview.pdf|Client Interview]]</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Built_Parts_(MakerBot)&diff=1730Built Parts (MakerBot)2013-06-02T00:09:56Z<p>More8927: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
!Images<br />
!Part<br />
!Purpose<br />
!Results<br />
!Time<br />
!Post Print Processing<br />
|-<br />
||[[File:MakerbotTopBlock.JPG |thumb|200px]]<br />
|Block Project Top Block<br />
|Get used to the machine, learn about shrinkage and expansion, Test Post Print Processing Techniques.<br />
|.008” = .6% shrinkage in Z<br />
.004” = .2% shrinkage in Y<br />
.003” = .4% expansion in X<br />
|Est.: 91 min<br />
Act.: 81 min<br />
|Sanded down to fit in the metal block. Holes were reamed successfully.<br />
|-<br />
||[[File:MakerbotArches.JPG |thumb|200px]]<br />
|Arches .125”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 15 min<br />
Act.: 13 min<br />
|None<br />
|-<br />
||[[File:MakerbotArches.JPG |thumb|200px]]<br />
|Arches .250”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Similar results, Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 18 min<br />
Act.: 17 min<br />
|None<br />
|-<br />
||[[File:Makerbot1x1CubeLowRes.jpg|thumb|200px]]<br />
|1” Cube Standard Resolution (.27)<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
|Est.: 30 min<br />
Act.: 27 min<br />
|Sanded on belt sander. Won't smooth evenly.<br />
|-<br />
||[[File:Makerbot1x1CubeLowRes.jpg|thumb|200px]]<br />
|1” Cube Mid Resolution (.15)<br />
|To determine % of shrinkage and expansion in each axis and time difference.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
Resolution doesn't effect Shrikage/Expantion.<br />
|Est.: 31 min<br />
Act.: 38 min<br />
|Saturated with water. Water was not absorbed. Object was 50% buoyant at 10% hallow.<br />
|-<br />
|[[File:MakerbotConeFailed.JPG |thumb|200px]]<br />
|Cone<br />
|Printed to determine circle problems.<br />
|.01% shrinkage in Y<br />
.05% expansion in X<br />
Error Printing in Z Lost .35" of tip.<br />
|None<br />
Est.: 87 min<br />
Act.: 91 min<br />
|<br />
|-<br />
|<br />
|1 x .5 x .5 Rectangle<br />
|Built with 4 Shells for machining.<br />
|.001” = .2% expansion in Z<br />
.010” = 2% expansion in Y<br />
.004” = .4% expansion in X<br />
|Est.: 8 min<br />
Act.: 8 min<br />
|Milled one edge at Aluminum speeds which resulted in perfect smoothness. Learned 4 layers = .0848" thickness.</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1729Part Design (MakerBot)2013-06-01T23:54:27Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
== Machine Limitations ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Build Volume===<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch]]<br />
[[File:MakerbotArches.JPG|thumb|200px|Successful arches with fillets and failed 90º Overhang]]<br />
<br />
|-<br />
|colspan="2"|<br />
<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
[[File:Knife Edge.png |thumb|200px|Red edge will fail. Fillet must be removed to print successfully.]]<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure.<br />
|-<br />
|colspan="2"|<br />
==Parts Built Analyses==<br />
[[Built_Parts_(MakerBot)|Built Parts]]<br />
<br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1728Part Design (MakerBot)2013-06-01T23:51:46Z<p>More8927: /* Overhangs and Arches */</p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
== Machine Limitations ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Build Volume===<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch]]<br />
[[File:MakerbotArches.JPG|thumb|200px|Successful arches with fillets and failed 90º Overhang]]<br />
<br />
|-<br />
|colspan="2"|<br />
<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
[[File:Knife Edge.png |thumb|200px|Red edge will fail. Fillet must be removed to print successfully.]]<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure.<br />
<br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Machine_Setup/Maintenance_(MakerBot)&diff=1727Machine Setup/Maintenance (MakerBot)2013-06-01T23:40:12Z<p>More8927: /* Steps for Printing */</p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Makerbot prints by heating plastic and placing it in layers on the base plate. For this to work the machine must be printing onto a level plate, have enough filament, and maintain proper temperature.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Steps for Printing==<br />
{| style="text-align: left;"<br />
{{ChecklistCategory|title=Before Printing}}<br />
{{ChecklistRowDescription|title=Generate code before starting.|description=See [[Code Generation (MakerBot)]] for how to generate code.}}<br />
{{ChecklistRowDescription|title=Secure machine|description =The printer must be on a stable work surface and must not able to rattle around. Add foam under the feet as necessary.}}<br />
{{ChecklistRow|title=Turn on printer}}<br />
{{ChecklistRowDescription|title=Check reel of filament|description=If empty/too low/wrong color, see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]. If filament is loaded, run "Load" command to verify nozzle isn't clogged. To run "Load" command see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]}}<br />
{{ChecklistRowDescription|title=Preheat nozzle|description=On the MakerBot's menu select "Preheat→Heat Nozzle"}}<br />
{{ChecklistRowDescription|title=Insert SD card|description=Insert SD Card containing .x3g file.}}<br />
{{ChecklistCategory|title=Starting the Print}}<br />
{{ChecklistRowDescription|title=Select print object from SD card}}<br />
{{ChecklistRowDescription|title= Monitor first few layers|description=If filament is not touching base plate when part is started see [[Machine Setup/Maintenance (MakerBot)#Leveling Base Plate|Leveling Base Plate]]}}<br />
{{ChecklistRowDescription|title= Monitor Periodically|description=Listen for clicking. This indicates emanate part failure. If part fails see [[Reasons Parts Fail (MakerBot)|Reasons Parts Fail (MakerBot)]]}}<br />
{{ChecklistCategory|title=Post Printing}}<br />
{{ChecklistRowDescription|title=Remove part|description=becareful when removing the part not to damage the tape or bed. A scrapping object may be needed but should be used wisely.}}<br />
{{ChecklistRowDescription|title=Coolextruder|description=Extruder will cool automatically when print is finished.}}<br />
{{ChecklistRowDescription|title=Turn off printer|description=After the fan has shut off, cooling has completed and the printer should be turned off}}<br />
|}<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
<br />
==Secure Machine==<br />
Makerbot shakes while making parts. If the machine is not secure this can create part deficiencies. Level machine by using a level or simply verify it doesn’t wobble.<br />
<br />
|-<br />
|colspan="2"|<br />
==Maintaining Tape==<br />
|-<br />
|style="vertical-align:top;"|<br />
Masking tape is used on the tray of the MakerBot to make maintenance easier. At the beginning of every print the take a credit card and verify there are no bubbles in the tape and that is it laying flat. Remove bubbles if present. If the tape looks worn and replace it. Tape wears from pulling parts off, heat from the nozzle, and getting oils from hands on it.<br />
<br />
Blue masking tape can be found by asking around with the mechanical engineering faculty in Gauss Johnson. When placing new masking tape on the tray make sure it is flat. Any bubbles or overlaps will deform part bases. Also, leave the left front corner tape free. This allows the plastic to stick to the tray ensuring any plastic floating around the nozzle doesn't effect the print.<br />
<br />
|<br />
[[File:Taped_Tray(MakerBot).jpeg|thumb|right|300px|Properly Taped Tray]]<br />
|-<br />
|colspan="2"|<br />
<br />
==Leveling Base Tray==<br />
<br />
The base plate must be level to avoid lopsided parts. The base plate should only be leveled if the second print attempt fails. If the print fails the fist time, try lightly lifting the front left corner of the tray so it is almost touching the nozzle. This is necessary because the base plat is warped.<br />
<br />
On the main menu, select "Utilities", "leveling", and follow the instructions. When using a paper to check height the friction should be similar to using a set of feeler gauges.<br />
<br />
|-<br />
|colspan="2"|<br />
==Loading/Unloading Filament==<br />
The filament will need to be unloaded/loaded if the user wishes to change the color or no filament is loaded. The load/unload commands can also be used to fix a jammed printer nozzle by unloading and reloading filament. Users should go through the load command whenever building parts even if filament is already loaded. This verifies the nozzle is not clogged. Filament should flow freely. <br />
<br />
===Loading Filament===<br />
To load filament, run the load command, on the main menu, select "Utilities → Change Filament → Load" and follow the directions.<br />
<br />
===Unloading Filament===<br />
To unload the filament, on the main menu, select "Utilities → Change Filament → Unload" and follow the directions.<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
==Preheating==<br />
Before starting the part, the machine must be heated to the proper temperature for the plastic to flow properly. Typically the Machine will run between 220°-230°C. To preheat select "Preheat" on the main menu. <br />
<br />
|-<br />
|colspan="2"|<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Machine_Setup/Maintenance_(MakerBot)&diff=1726Machine Setup/Maintenance (MakerBot)2013-06-01T23:37:01Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Makerbot prints by heating plastic and placing it in layers on the base plate. For this to work the machine must be printing onto a level plate, have enough filament, and maintain proper temperature.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Steps for Printing==<br />
{| style="text-align: left;"<br />
{{ChecklistCategory|title=Before Printing}}<br />
{{ChecklistRowDescription|title=Generate code before starting.|description=See [[Code Generation (MakerBot)]] for how to generate code.}}<br />
{{ChecklistRowDescription|title=Secure machine|description =The printer must be on a stable work surface and must not able to rattle around. Add foam under the feet as necessary.}}<br />
{{ChecklistRow|title=Turn on printer}}<br />
{{ChecklistRowDescription|title=Check reel of filament|description=If empty/too low/wrong color, see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]. If filament is loaded, run "Load" command to verify nozzle isn't clogged. To run "Load" command see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]}}<br />
{{ChecklistRowDescription|title=Preheat nozzle|description=On the MakerBot's menu select "Preheat→Heat Nozzle"}}<br />
{{ChecklistRow|title=Insert SD card}}<br />
{{ChecklistCategory|title=Starting the Print}}<br />
{{ChecklistRowDescription|title=Select print object from SD card}}<br />
{{ChecklistRowDescription|title= Monitor first few layers|description=If filament is not touching base plate when part is started see [[Machine Setup/Maintenance (MakerBot)#Leveling Base Plate|Leveling Base Plate]]}}<br />
{{ChecklistRowDescription|title= Monitor Periodically|description=Listen for clicking. This indicates emanate part failure. If part fails see [[Reasons Parts Fail (MakerBot)|Reasons Parts Fail (MakerBot)]]}}<br />
{{ChecklistCategory|title=Post Printing}}<br />
{{ChecklistRowDescription|title=Remove part|description=becareful when removing the part not to damage the tape or bed. A scrapping object may be needed but should be used wisely.}}<br />
{{ChecklistRowDescription|title=Coolextruder|description=Extruder will cool automatically when print is finished.}}<br />
{{ChecklistRowDescription|title=Turn off printer|description=After the fan has shut off, cooling has completed and the printer should be turned off}}<br />
|}<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
==Secure Machine==<br />
Makerbot shakes while making parts. If the machine is not secure this can create part deficiencies. Level machine by using a level or simply verify it doesn’t wobble.<br />
<br />
|-<br />
|colspan="2"|<br />
==Maintaining Tape==<br />
|-<br />
|style="vertical-align:top;"|<br />
Masking tape is used on the tray of the MakerBot to make maintenance easier. At the beginning of every print the take a credit card and verify there are no bubbles in the tape and that is it laying flat. Remove bubbles if present. If the tape looks worn and replace it. Tape wears from pulling parts off, heat from the nozzle, and getting oils from hands on it.<br />
<br />
Blue masking tape can be found by asking around with the mechanical engineering faculty in Gauss Johnson. When placing new masking tape on the tray make sure it is flat. Any bubbles or overlaps will deform part bases. Also, leave the left front corner tape free. This allows the plastic to stick to the tray ensuring any plastic floating around the nozzle doesn't effect the print.<br />
<br />
|<br />
[[File:Taped_Tray(MakerBot).jpeg|thumb|right|300px|Properly Taped Tray]]<br />
|-<br />
|colspan="2"|<br />
<br />
==Leveling Base Tray==<br />
<br />
The base plate must be level to avoid lopsided parts. The base plate should only be leveled if the second print attempt fails. If the print fails the fist time, try lightly lifting the front left corner of the tray so it is almost touching the nozzle. This is necessary because the base plat is warped.<br />
<br />
On the main menu, select "Utilities", "leveling", and follow the instructions. When using a paper to check height the friction should be similar to using a set of feeler gauges.<br />
<br />
|-<br />
|colspan="2"|<br />
==Loading/Unloading Filament==<br />
The filament will need to be unloaded/loaded if the user wishes to change the color or no filament is loaded. The load/unload commands can also be used to fix a jammed printer nozzle by unloading and reloading filament. Users should go through the load command whenever building parts even if filament is already loaded. This verifies the nozzle is not clogged. Filament should flow freely. <br />
<br />
===Loading Filament===<br />
To load filament, run the load command, on the main menu, select "Utilities → Change Filament → Load" and follow the directions.<br />
<br />
===Unloading Filament===<br />
To unload the filament, on the main menu, select "Utilities → Change Filament → Unload" and follow the directions.<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
==Preheating==<br />
Before starting the part, the machine must be heated to the proper temperature for the plastic to flow properly. Typically the Machine will run between 220°-230°C. To preheat select "Preheat" on the main menu. <br />
<br />
|-<br />
|colspan="2"|<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Machine_Setup/Maintenance_(MakerBot)&diff=1725Machine Setup/Maintenance (MakerBot)2013-06-01T23:33:08Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Makerbot prints by heating plastic and placing it in layers on the base plate. For this to work the machine must be printing onto a level plate, have enough filament, and maintain proper temperature.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Steps for Printing==<br />
{| style="text-align: left;"<br />
{{ChecklistCategory|title=Before Printing}}<br />
{{ChecklistRowDescription|title=Generate code before starting.|description=See [[Code Generation (MakerBot)]] for how to generate code.}}<br />
{{ChecklistRowDescription|title=Secure machine|description =The printer must be on a stable work surface and must not able to rattle around. Add foam under the feet as necessary.}}<br />
{{ChecklistRow|title=Turn on printer}}<br />
{{ChecklistRowDescription|title=Check reel of filament|description=If empty/too low/wrong color, see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]. If filament is loaded, run "Load" command to verify nozzle isn't clogged. To run "Load" command see [[Machine Setup/Maintenance (MakerBot)#Loading/Unloading Filament|Loading/Unloading Filament]]}}<br />
{{ChecklistRowDescription|title=Preheat nozzle|description=On the MakerBot's menu select "Preheat→Heat Nozzle"}}<br />
{{ChecklistRow|title=Insert SD card}}<br />
{{ChecklistCategory|title=Starting the Print}}<br />
{{ChecklistRowDescription|title=Select print object from SD card}}<br />
{{ChecklistRowDescription|title= Monitor first few layers|description=If filament is not touching base plate when part is started see [[Machine Setup/Maintenance (MakerBot)#Leveling Base Plate|Leveling Base Plate]]}}<br />
{{ChecklistRowDescription|title= Monitor Periodically|description=Listen for clicking. This indicates emanate part failure. If part fails see [[Reasons Parts Fail (MakerBot)|Reasons Parts Fail (MakerBot)]]}}<br />
{{ChecklistCategory|title=Post Printing}}<br />
{{ChecklistRowDescription|title=Remove part|description=becareful when removing the part not to damage the tape or bed. A scrapping object may be needed but should be used wisely.}}<br />
{{ChecklistRowDescription|title=Coolextruder|description=Extruder will cool automatically when print is finished.}}<br />
{{ChecklistRowDescription|title=Turn off printer|description=After the fan has shut off, cooling has completed and the printer should be turned off}}<br />
|}<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
==Secure Machine==<br />
Makerbot shakes while making parts. If the machine is not secure this can create part deficiencies. Level machine by using a level or simply verify it doesn’t wobble.<br />
<br />
|-<br />
|colspan="2"|<br />
==Maintaining Tape==<br />
|-<br />
|style="vertical-align:top;"|<br />
Masking tape is used on the tray of the MakerBot to make maintenance easier. At the beginning of every print the take a credit card and verify there are no bubbles in the tape and that is it laying flat. Remove bubbles if present. If the tape looks worn and replace it. Tape wears from pulling parts off, heat from the nozzle, and getting oils from hands on it.<br />
<br />
Blue masking tape can be found by asking around with the mechanical engineering faculty in Gauss Johnson. When placing new masking tape on the tray make sure it is flat. Any bubbles or overlaps will deform part bases. Also, leave the left front corner tape free. This allows the plastic to stick to the tray ensuring any plastic floating around the nozzle doesn't effect the print.<br />
<br />
|<br />
[[File:Taped_Tray(MakerBot).jpeg|thumb|right|300px|Properly Taped Tray]]<br />
|-<br />
|colspan="2"|<br />
<br />
==Leveling Base Tray==<br />
<br />
The base plate must be level to avoid lopsided parts. The base plate should only be leveled if the second print attempt fails. If the print fails the fist time, try lightly lifting the front left corner of the tray so it is almost touching the nozzle. This is necessary because the base plat is warped.<br />
<br />
On the main menu, select "Utilities", "leveling", and follow the instructions. When using a paper to check height the friction should be similar to using a set of feeler gauges.<br />
<br />
|-<br />
|colspan="2"|<br />
==Loading/Unloading Filament==<br />
If the printer nozzle is jammed it is necessary to unload and load the filament. Users should go through the load command whenever building parts even if filament is already loaded. This verifies the nozzle is not clogged. Filament should flow freely. To run the load command, on the main menu, select "Utilities → Change Filament → Load" and follow the directions.<br />
<br />
To unload the filament, on the main menu, select "Utilities → Change Filament → Unload" and follow the directions.<br />
<br />
<br />
|-<br />
|colspan="2"|<br />
==Preheating==<br />
Before starting the part, the machine must be heated to the proper temperature for the plastic to flow properly. Typically the Machine will run between 220°-230°C. To preheat select "Preheat" on the main menu. <br />
<br />
|-<br />
|colspan="2"|<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Code_Generation_(MakerBot)&diff=1724Code Generation (MakerBot)2013-06-01T23:19:52Z<p>More8927: /* Part Insertation */</p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
[[File:RelicatorG View.png|right|thumb|200px|ReplicatorG]]<br />
<br />
<br />
Code generation is done in ReplicatorG software. ReplicatorG converts the STL file into a build plan for Makerbot based on the selected settings. Various changes to the parts orientation, size, and build quality can be adjusted in ReplicatorG. <br />
<br />
For a good print a part must be placed in ReplicatorG for code generation. The part must be oriented so the side with the most surface area is on the plate. Other special conditions exist and are mentioned in [[Code_Generation_(MakerBot)#Part Orientation| Part Orientation]]. ReplicatorG will hollow out the part, build internal support structures, and slice the part into layers based on the "Generate Gcode" . After Gcode is generated the part can be exported to the SD card to be built by MakerBot.<br />
<br />
<br />
<br />
<br />
==Exporting part to STL==<br />
===Prerequisites===<br />
Before a part can be exported as an STL to be printed it must meet the geometric constraints of the MakerBot. See [[Part_Design_(MakerBot)|Part Design]] for information on geometric constraints and common errors.<br />
<br />
===File Naming limitations===<br />
The file name cannot exceed more than 26 characters (not including the file extension). All valid file name characters should be accepted, but may be the problem if the file does not show up on Makerbot when the file is transferred.<br />
<br />
===STL File===<br />
[[File:Save as STL.png |thumb|right|300px|Save as STL in Solidworks]]<br />
<br />
STL is a generic 3D file type and can be produced by most 3D based programs. Instead of having the steps to create the part, a stl file contains only the geometric surface dimensions.<br />
<br />
<br />
Because a stl file contains only the geometric surface dimensions it is important to also save the part as the typical SLDPRT. This enables a user to go back to the Solidworks file and make changes to the parts design if required.<br />
===Exporting STL from SolidWorks===<br />
<ol><br />
<li>Verify the part meets the geometric constraints of Makerbot.</li><br />
<li>Save Part as typical “SLDPRT”</li><br />
<li>Select “Save As”</li><br />
<li>Choose Destination</li><br />
<li>Change Save As Type to "STL(*.stl)" </li><br />
<li>Click “Save”</li><br />
</ol><br />
<br />
<br />
<br />
===Exporting STL from Inventor===<br />
<br />
===Exporting STL from CATIA===<br />
<br />
<br />
==Steps for Generating Code==<br />
<ol><br />
<li>Run Replicator G </li><br />
<li>Open Part</li><br />
<li>Orient Part and Scale </li><br />
<li>Select "Generate Code" </li><br />
<li>Apply Options</li><br />
<li>Hit “OK” on Acceleration Warning </li><br />
<li>After GCode is made select “Build to File for use with SD Card”</li><br />
<li>Select Save location</li><br />
<li>Change "Save As"</li><br />
</ol><br />
<br />
==ReplicatorG Installation==<br />
Code generation is done in ReplicatorG. It can be downloaded [http://replicat.org/ here]. Version 0040 is currently recommended. It will also require Python v2.7.5 to run properly. It is available [http://www.python.org/getit/ here]. ReplicatorG and Python will run on Window, Mac, and Ubuntu. <br />
<br />
<br />
==Load Part==<br />
Once ReplicatorG is running, parts can be loaded from the file menu. Only STL files are usable by ReplicatorG.<br />
<br />
==Part Orientation==<br />
Parts in RelpicatorG must be placed flat on the platform. The side with maximum surface area should be facing the platform. Moving, rotating, and scale are done to achieve this. <br />
<br />
===Move===<br />
Opened parts can be moved by using the “Move” button on the left. This allows for the part to be moved by use of the buttons on the right side or by clicking and moving the cursor. It is best practice to place the part in the center of base plate (or as close to the center as possible). The “Center” button will typically center the part.<br />
<br />
===Rotate===<br />
Opened parts can be rotated by using the “Rotate” button on the left. This allows for the part to be rotated in 90° increments by use of the buttons on the right side or by clicking and moving the cursor. Clicking and moving the cursor is tricky and not recommended.<br />
<br />
If the part is oriented at an angle, lay flat can be selected to place the part securely on the table. Lay flat will automatically lay the part down on the table using the small<br />
===Scale===<br />
Opened parts can be scaled by using the “Scale” button on the left. Parts will scale relative to current size. If it has been scaled once, the second scale will be based of the new scaled part. <br />
<br />
For example: If a 1" part is scaled by .5 the result is a .5" part. If the part is scaled again by .5 the result is a .25" part. If, after the previous scaling, it is required the part be 1/5 the original, it must be scaled up by 2 and then down by .2.<br />
<br />
<br />
==Settings Slicing==<br />
===Supports===<br />
Supports are plastic pieces placed strategically throughout parts that have overhangs and arches to prevent the plastic from drooping when plastic layers are being placed. Only supports if absolutely necessary because it increases build time and leaves marks where the supports were attached. <br />
<br />
Supports can be added by ????<br />
<br />
===Rafts===<br />
A raft lays down a thin pattern of plastic for the part to be built on. Rafts are used to make removing the part from plate easier, to prevent warping, and to increase parts sticking together. Rafts should not be used if part is circular because the part will fail. Removing rafts can be difficult so they should only be used if necessary.<br />
<br />
===Object infill (%)===<br />
<br />
This changes the percentage of internal fill in the part. The standard 10% will suffice for most parts and is fairly strong. If extra strength is needed this can be raised. DO NOT EXCEED ??% THIS WILL JAM THE MACHINE.<br />
<br />
===Layer Height===<br />
<br />
Layer Height changes the thickness of layers. Decreasing layer height will increase the number of layers and increase build time. It will also result in a more accurate piece. Decreasing layer height can remove build errors such as: jagged arches, sagging arches, and rough fillets. It is recommended that .27mm be used for standard builds and .1mm to .15mm be used for builds that could be problematic. The minimum layer height of MakerBot is .1mm.<br />
<br />
===Number of Shells:===<br />
<br />
Changing the number of shells is necessary when a thicker outer wall is needed for [[post print processing]]. The default value of 1 fine for most builds. Changing the value will yield the following results<br />
<br />
{| class="wikitable" style="text-align:center;"<br />
|-<br />
!Number of Shells<br />
!Avg. Wall Thickness<br />
|-<br />
|1<br />
|<br />
|-<br />
|2<br />
|<br />
|-<br />
|3<br />
|<br />
|-<br />
|4<br />
|<br />
|-<br />
|5<br />
|<br />
|-<br />
|6<br />
|<br />
|}<br />
<br />
===Feedrate (mm/s)===<br />
<br />
Set feedrate to 70. This will always be the same<br />
<br />
===Travel Feedrate===<br />
<br />
Set travel feedrate to 150. This will always be the same<br />
<br />
===Print Temperature===<br />
<br />
Set print temperature to 230&deg;C. This will always be the same.<br />
<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1723Part Design (MakerBot)2013-06-01T23:18:41Z<p>More8927: /* Edges */</p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
== Machine Limitations ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Build Volume===<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
[[File:Knife Edge.png |thumb|200px|Red edge will fail. Fillet must be removed to print successfully.]]<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure.<br />
<br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Code_Generation_(MakerBot)&diff=1510Code Generation (MakerBot)2013-05-31T17:27:40Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
[[File:RelicatorG View.png|right|thumb|200px|ReplicatorG]]<br />
<br />
<br />
Code generation is done in ReplicatorG software. ReplicatorG converts the STL file into a build plan for Makerbot based on the selected settings. Various changes to the parts orientation, size, and build quality can be adjusted in ReplicatorG. <br />
<br />
For a good print a part must be placed in ReplicatorG for code generation. The part must be oriented so the side with the most surface area is on the plate. Other special conditions exist and are mentioned in [[Code_Generation_(MakerBot)#Part Orientation| Part Orientation]]. ReplicatorG will hollow out the part, build internal support structures, and slice the part into layers based on the "Generate Gcode" . After Gcode is generated the part can be exported to the SD card to be built by MakerBot.<br />
<br />
<br />
<br />
<br />
==Exporting part to STL==<br />
===Prerequisites===<br />
Before a part can be exported as an STL to be printed it must meet the geometric constraints of the MakerBot. See [[Part_Design_(MakerBot)|Part Design]] for information on geometric constraints and common errors.<br />
<br />
===File Naming limitations===<br />
The file name cannot exceed more than 26 characters (not including the file extension). All valid file name characters should be accepted, but may be the problem if the file does not show up on Makerbot when the file is transferred.<br />
<br />
===STL File===<br />
[[File:Save as STL.png |thumb|right|300px|Save as STL in Solidworks]]<br />
<br />
STL is a generic 3D file type and can be produced by most 3D based programs. Instead of having the steps to create the part, a stl file contains only the geometric surface dimensions.<br />
<br />
<br />
Because a stl file contains only the geometric surface dimensions it is important to also save the part as the typical SLDPRT. This enables a user to go back to the Solidworks file and make changes to the parts design if required.<br />
===Exporting STL from SolidWorks===<br />
<ol><br />
<li>Verify the part meets the geometric constraints of Makerbot.</li><br />
<li>Save Part as typical “SLDPRT”</li><br />
<li>Select “Save As”</li><br />
<li>Choose Destination</li><br />
<li>Change Save As Type to "STL(*.stl)" </li><br />
<li>Click “Save”</li><br />
</ol><br />
<br />
<br />
<br />
===Exporting STL from Inventor===<br />
<br />
===Exporting STL from CATIA===<br />
<br />
<br />
==Steps for Generating Code==<br />
<ol><br />
<li>Run Replicator G </li><br />
<li>Open Part</li><br />
<li>Orient Part and Scale </li><br />
<li>Select "Generate Code" </li><br />
<li>Apply Options</li><br />
<li>Hit “OK” on Acceleration Warning </li><br />
<li>After GCode is made select “Build to File for use with SD Card”</li><br />
<li>Select Save location</li><br />
<li>Change "Save As"</li><br />
</ol><br />
<br />
==ReplicatorG Installation==<br />
Code generation is done in ReplicatorG. It can be downloaded [http://replicat.org/ here]. Version 0040 is currently recommended. It will also require Python v2.7.5 to run properly. It is available [http://www.python.org/getit/ here]. ReplicatorG and Python will run on Window, Mac, and Ubuntu. <br />
<br />
<br />
==Part Insertation==<br />
Once ReplicatorG is running, parts can be opened from the file menu. Only STL files are usable by ReplicatorG.<br />
<br />
==Part Orientation==<br />
Parts in RelpicatorG must be placed flat on the platform. The side with maximum surface area should be facing the platform. Moving, rotating, and scale are done to achieve this. <br />
<br />
===Move===<br />
Opened parts can be moved by using the “Move” button on the left. This allows for the part to be moved by use of the buttons on the right side or by clicking and moving the cursor. It is best practice to place the part in the center of base plate (or as close to the center as possible). The “Center” button will typically center the part.<br />
<br />
===Rotate===<br />
Opened parts can be rotated by using the “Rotate” button on the left. This allows for the part to be rotated in 90° increments by use of the buttons on the right side or by clicking and moving the cursor. Clicking and moving the cursor is tricky and not recommended.<br />
<br />
If the part is oriented at an angle, lay flat can be selected to place the part securely on the table. Lay flat will automatically lay the part down on the table using the small<br />
===Scale===<br />
Opened parts can be scaled by using the “Scale” button on the left. Parts will scale relative to current size. If it has been scaled once, the second scale will be based of the new scaled part. <br />
<br />
For example: If a 1" part is scaled by .5 the result is a .5" part. If the part is scaled again by .5 the result is a .25" part. If, after the previous scaling, it is required the part be 1/5 the original, it must be scaled up by 2 and then down by .2.<br />
<br />
<br />
==Settings Slicing==<br />
===Supports===<br />
Supports are plastic pieces placed strategically throughout parts that have overhangs and arches to prevent the plastic from drooping when plastic layers are being placed. Only supports if absolutely necessary because it increases build time and leaves marks where the supports were attached. <br />
<br />
Supports can be added by ????<br />
<br />
===Rafts===<br />
A raft lays down a thin pattern of plastic for the part to be built on. Rafts are used to make removing the part from plate easier, to prevent warping, and to increase parts sticking together. Rafts should not be used if part is circular because the part will fail. Removing rafts can be difficult so they should only be used if necessary.<br />
<br />
===Object infill (%)===<br />
<br />
This changes the percentage of internal fill in the part. The standard 10% will suffice for most parts and is fairly strong. If extra strength is needed this can be raised. DO NOT EXCEED ??% THIS WILL JAM THE MACHINE.<br />
<br />
===Layer Height===<br />
<br />
Layer Height changes the thickness of layers. Decreasing layer height will increase the number of layers and increase build time. It will also result in a more accurate piece. Decreasing layer height can remove build errors such as: jagged arches, sagging arches, and rough fillets. It is recommended that .27mm be used for standard builds and .1mm to .15mm be used for builds that could be problematic. The minimum layer height of MakerBot is .1mm.<br />
<br />
===Number of Shells:===<br />
<br />
Changing the number of shells is necessary when a thicker outer wall is needed for [[post print processing]]. The default value of 1 fine for most builds. Changing the value will yield the following results<br />
<br />
{| class="wikitable" style="text-align:center;"<br />
|-<br />
!Number of Shells<br />
!Avg. Wall Thickness<br />
|-<br />
|1<br />
|<br />
|-<br />
|2<br />
|<br />
|-<br />
|3<br />
|<br />
|-<br />
|4<br />
|<br />
|-<br />
|5<br />
|<br />
|-<br />
|6<br />
|<br />
|}<br />
<br />
===Feedrate (mm/s)===<br />
<br />
Set feedrate to 70. This will always be the same<br />
<br />
===Travel Feedrate===<br />
<br />
Set travel feedrate to 150. This will always be the same<br />
<br />
===Print Temperature===<br />
<br />
Set print temperature to 230&deg;C. This will always be the same.<br />
<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Code_Generation_(MakerBot)&diff=1507Code Generation (MakerBot)2013-05-31T17:26:33Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
[[File:RelicatorG View.png |200px|thumb|ReplicatorG]<br />
<br />
<br />
Code generation is done in ReplicatorG software. ReplicatorG converts the STL file into a build plan for Makerbot based on the selected settings. Various changes to the parts orientation, size, and build quality can be adjusted in ReplicatorG. <br />
<br />
For a good print a part must be placed in ReplicatorG for code generation. The part must be oriented so the side with the most surface area is on the plate. Other special conditions exist and are mentioned in [[Code_Generation_(MakerBot)#Part Orientation| Part Orientation]]. ReplicatorG will hollow out the part, build internal support structures, and slice the part into layers based on the "Generate Gcode" . After Gcode is generated the part can be exported to the SD card to be built by MakerBot.<br />
<br />
<br />
<br />
<br />
==Exporting part to STL==<br />
===Prerequisites===<br />
Before a part can be exported as an STL to be printed it must meet the geometric constraints of the MakerBot. See [[Part_Design_(MakerBot)|Part Design]] for information on geometric constraints and common errors.<br />
<br />
===File Naming limitations===<br />
The file name cannot exceed more than 26 characters (not including the file extension). All valid file name characters should be accepted, but may be the problem if the file does not show up on Makerbot when the file is transferred.<br />
<br />
===STL File===<br />
[[File:Save as STL.png |thumb|right|300px|Save as STL in Solidworks]]<br />
<br />
STL is a generic 3D file type and can be produced by most 3D based programs. Instead of having the steps to create the part, a stl file contains only the geometric surface dimensions.<br />
<br />
<br />
Because a stl file contains only the geometric surface dimensions it is important to also save the part as the typical SLDPRT. This enables a user to go back to the Solidworks file and make changes to the parts design if required.<br />
===Exporting STL from SolidWorks===<br />
<ol><br />
<li>Verify the part meets the geometric constraints of Makerbot.</li><br />
<li>Save Part as typical “SLDPRT”</li><br />
<li>Select “Save As”</li><br />
<li>Choose Destination</li><br />
<li>Change Save As Type to "STL(*.stl)" </li><br />
<li>Click “Save”</li><br />
</ol><br />
<br />
<br />
<br />
===Exporting STL from Inventor===<br />
<br />
===Exporting STL from CATIA===<br />
<br />
<br />
==Steps for Generating Code==<br />
<ol><br />
<li>Run Replicator G </li><br />
<li>Open Part</li><br />
<li>Orient Part and Scale </li><br />
<li>Select "Generate Code" </li><br />
<li>Apply Options</li><br />
<li>Hit “OK” on Acceleration Warning </li><br />
<li>After GCode is made select “Build to File for use with SD Card”</li><br />
<li>Select Save location</li><br />
<li>Change "Save As"</li><br />
</ol><br />
<br />
==ReplicatorG Installation==<br />
Code generation is done in ReplicatorG. It can be downloaded [http://replicat.org/ here]. Version 0040 is currently recommended. It will also require Python v2.7.5 to run properly. It is available [http://www.python.org/getit/ here]. ReplicatorG and Python will run on Window, Mac, and Ubuntu. <br />
<br />
<br />
==Part Insertation==<br />
Once ReplicatorG is running, parts can be opened from the file menu. Only STL files are usable by ReplicatorG.<br />
<br />
==Part Orientation==<br />
Parts in RelpicatorG must be placed flat on the platform. The side with maximum surface area should be facing the platform. Moving, rotating, and scale are done to achieve this. <br />
<br />
===Move===<br />
Opened parts can be moved by using the “Move” button on the left. This allows for the part to be moved by use of the buttons on the right side or by clicking and moving the cursor. It is best practice to place the part in the center of base plate (or as close to the center as possible). The “Center” button will typically center the part.<br />
<br />
===Rotate===<br />
Opened parts can be rotated by using the “Rotate” button on the left. This allows for the part to be rotated in 90° increments by use of the buttons on the right side or by clicking and moving the cursor. Clicking and moving the cursor is tricky and not recommended.<br />
<br />
If the part is oriented at an angle, lay flat can be selected to place the part securely on the table. Lay flat will automatically lay the part down on the table using the small<br />
===Scale===<br />
Opened parts can be scaled by using the “Scale” button on the left. Parts will scale relative to current size. If it has been scaled once, the second scale will be based of the new scaled part. <br />
<br />
For example: If a 1" part is scaled by .5 the result is a .5" part. If the part is scaled again by .5 the result is a .25" part. If, after the previous scaling, it is required the part be 1/5 the original, it must be scaled up by 2 and then down by .2.<br />
<br />
<br />
==Settings Slicing==<br />
===Supports===<br />
Supports are plastic pieces placed strategically throughout parts that have overhangs and arches to prevent the plastic from drooping when plastic layers are being placed. Only supports if absolutely necessary because it increases build time and leaves marks where the supports were attached. <br />
<br />
Supports can be added by ????<br />
<br />
===Rafts===<br />
A raft lays down a thin pattern of plastic for the part to be built on. Rafts are used to make removing the part from plate easier, to prevent warping, and to increase parts sticking together. Rafts should not be used if part is circular because the part will fail. Removing rafts can be difficult so they should only be used if necessary.<br />
<br />
===Object infill (%)===<br />
<br />
This changes the percentage of internal fill in the part. The standard 10% will suffice for most parts and is fairly strong. If extra strength is needed this can be raised. DO NOT EXCEED ??% THIS WILL JAM THE MACHINE.<br />
<br />
===Layer Height===<br />
<br />
Layer Height changes the thickness of layers. Decreasing layer height will increase the number of layers and increase build time. It will also result in a more accurate piece. Decreasing layer height can remove build errors such as: jagged arches, sagging arches, and rough fillets. It is recommended that .27mm be used for standard builds and .1mm to .15mm be used for builds that could be problematic. The minimum layer height of MakerBot is .1mm.<br />
<br />
===Number of Shells:===<br />
<br />
Changing the number of shells is necessary when a thicker outer wall is needed for [[post print processing]]. The default value of 1 fine for most builds. Changing the value will yield the following results<br />
<br />
{| class="wikitable" style="text-align:center;"<br />
|-<br />
!Number of Shells<br />
!Avg. Wall Thickness<br />
|-<br />
|1<br />
|<br />
|-<br />
|2<br />
|<br />
|-<br />
|3<br />
|<br />
|-<br />
|4<br />
|<br />
|-<br />
|5<br />
|<br />
|-<br />
|6<br />
|<br />
|}<br />
<br />
===Feedrate (mm/s)===<br />
<br />
Set feedrate to 70. This will always be the same<br />
<br />
===Travel Feedrate===<br />
<br />
Set travel feedrate to 150. This will always be the same<br />
<br />
===Print Temperature===<br />
<br />
Set print temperature to 230&deg;C. This will always be the same.<br />
<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Built_Parts_(MakerBot)&diff=1501Built Parts (MakerBot)2013-05-31T17:19:47Z<p>More8927: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
!Images<br />
!Part<br />
!Purpose<br />
!Results<br />
!Time<br />
!Post Print Processing<br />
|-<br />
||[[File:MakerbotTopBlock.JPG |thumb|200px]]<br />
|Block Project Top Block<br />
|Get used to the machine, learn about shrinkage and expansion, Test Post Print Processing Techniques.<br />
|.008” = .6% shrinkage in Z<br />
.004” = .2% shrinkage in Y<br />
.003” = .4% expansion in X<br />
|Est.: 91 min<br />
Act.: 81 min<br />
|<br />
|-<br />
||[[File:MakerbotArches.JPG |thumb|200px]]<br />
|Arches .125”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 15 min<br />
Act.: 13 min<br />
<br />
|<br />
|-<br />
||[[File:MakerbotArches.JPG |thumb|200px]]<br />
|Arches .250”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Similar results, Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 18 min<br />
Act.: 17 min<br />
|<br />
|-<br />
||[[File:Makerbot1x1CubeLowRes.jpg|thumb|200px]]<br />
|1” Cube Standard Resolution<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
|Est.: 30 min<br />
Act.: 27 min<br />
|<br />
|-<br />
||[[File:Makerbot1x1CubeLowRes.jpg|thumb|200px]]<br />
|1” Cube High Resolution<br />
|To determine % of shrinkage and expansion in each axis and time difference.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
|Est.: 31 min<br />
Act.: 38 min<br />
|<br />
|-<br />
|[[File:MakerbotConeFailed.JPG |thumb|200px]]<br />
|Cone<br />
|<br />
|.01 Y<br />
.05 X<br />
<br />
Error Printing in Z Lost 2.650<br />
<br />
|Act.: 91<br />
|<br />
|-<br />
||[[File:Arch Fail.JPG|thumb|200px]]<br />
|<br />
|<br />
|<br />
|Act.: 8<br />
|</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Built_Parts_(MakerBot)&diff=1496Built Parts (MakerBot)2013-05-31T17:14:51Z<p>More8927: Created page with "{| class="wikitable" |- !Images !Part !Purpose !Results !Time !Post Print Processing |- | |Block Project Top Block |Get used to the machine, learn about shrinkage and expansio..."</p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
!Images<br />
!Part<br />
!Purpose<br />
!Results<br />
!Time<br />
!Post Print Processing<br />
|-<br />
|<br />
|Block Project Top Block<br />
|Get used to the machine, learn about shrinkage and expansion, Test Post Print Processing Techniques.<br />
|.008” = .6% shrinkage in Z<br />
.004” = .2% shrinkage in Y<br />
.003” = .4% expansion in X<br />
|Est.: 91 min<br />
Act.: 81 min<br />
|<br />
|-<br />
|<br />
|Arches .125”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 15 min<br />
Act.: 13 min<br />
<br />
|<br />
|-<br />
|<br />
|Arches .250”<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|Similar results, Corners on the ZY and ZX planes are sharper than corners in the XY plane. Drooping occurred when .375” of overhang exists<br />
|Est.: 18 min<br />
Act.: 17 min<br />
|<br />
|-<br />
|<br />
|1” Cube Standard Resolution<br />
|To determine Makerbots corner capacities and arch radius problems.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
|Est.: 30 min<br />
Act.: 27 min<br />
|<br />
|-<br />
|<br />
|1” Cube High Resolution<br />
|To determine % of shrinkage and expansion in each axis and time difference.<br />
|.004” = .4% shrinkage in Z<br />
.002” = .2% shrinkage in Y<br />
.003” = .3% expansion in X<br />
|Est.: 31 min<br />
Act.: 38 min<br />
|<br />
|-<br />
|<br />
|Cone<br />
|<br />
|.01 Y<br />
.05 X<br />
<br />
Error Printing in Z Lost 2.650<br />
<br />
|Act.: 91<br />
|<br />
|-<br />
|<br />
|<br />
|<br />
|<br />
|Act.: 8<br />
|</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Code_Generation_(MakerBot)&diff=1468Code Generation (MakerBot)2013-05-31T16:44:39Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
[[File:RelicatorG View.png |220px|thumb|Lime Jell-O]]<br />
<br />
<br />
Code generation is done in ReplicatorG software. ReplicatorG converts the STL file into a build plan for Makerbot based on the selected settings. Various changes to the parts orientation, size, and build quality can be adjusted in ReplicatorG. <br />
<br />
For a good print a part must be placed in ReplicatorG for code generation. The part must be oriented so the side with the most surface area is on the plate. Other special conditions exist and are mentioned in [[Code_Generation_(MakerBot)#Part Orientation| Part Orientation]]. ReplicatorG will hollow out the part, build internal support structures, and slice the part into layers based on the "Generate Gcode" . After Gcode is generated the part can be exported to the SD card to be built by MakerBot.<br />
<br />
<br />
<br />
<br />
==Exporting part to STL==<br />
===Prerequisites===<br />
Before a part can be exported as an STL to be printed it must meet the geometric constraints of the MakerBot. See [[Part_Design_(MakerBot)|Part Design]] for information on geometric constraints and common errors.<br />
<br />
===File Naming limitations===<br />
The file name cannot exceed more than 26 characters (not including the file extension). All valid file name characters should be accepted, but may be the problem if the file does not show up on Makerbot when the file is transferred.<br />
<br />
===STL File===<br />
[[File:Save as STL.png |thumb|right|300px|Save as STL in Solidworks]]<br />
<br />
STL is a generic 3D file type and can be produced by most 3D based programs. Instead of having the steps to create the part, a stl file contains only the geometric surface dimensions.<br />
<br />
<br />
Because a stl file contains only the geometric surface dimensions it is important to also save the part as the typical SLDPRT. This enables a user to go back to the Solidworks file and make changes to the parts design if required.<br />
===Exporting STL from SolidWorks===<br />
<ol><br />
<li>Verify the part meets the geometric constraints of Makerbot.</li><br />
<li>Save Part as typical “SLDPRT”</li><br />
<li>Select “Save As”</li><br />
<li>Choose Destination</li><br />
<li>Change Save As Type to "STL(*.stl)" </li><br />
<li>Click “Save”</li><br />
</ol><br />
<br />
<br />
<br />
===Exporting STL from Inventor===<br />
<br />
===Exporting STL from CATIA===<br />
<br />
<br />
==Steps for Generating Code==<br />
<ol><br />
<li>Run Replicator G </li><br />
<li>Open Part</li><br />
<li>Orient Part and Scale </li><br />
<li>Select "Generate Code" </li><br />
<li>Apply Options</li><br />
<li>Hit “OK” on Acceleration Warning </li><br />
<li>After GCode is made select “Build to File for use with SD Card”</li><br />
<li>Select Save location</li><br />
<li>Change "Save As"</li><br />
</ol><br />
<br />
==ReplicatorG Installation==<br />
Code generation is done in ReplicatorG. It can be downloaded [http://replicat.org/ here]. Version 0040 is currently recommended. It will also require Python v2.7.5 to run properly. It is available [http://www.python.org/getit/ here]. ReplicatorG and Python will run on Window, Mac, and Ubuntu. <br />
<br />
<br />
==Part Insertation==<br />
Once ReplicatorG is running, parts can be opened from the file menu. Only STL files are usable by ReplicatorG.<br />
<br />
==Part Orientation==<br />
Parts in RelpicatorG must be placed flat on the platform. The side with maximum surface area should be facing the platform. Moving, rotating, and scale are done to achieve this. <br />
<br />
===Move===<br />
Opened parts can be moved by using the “Move” button on the left. This allows for the part to be moved by use of the buttons on the right side or by clicking and moving the cursor. It is best practice to place the part in the center of base plate (or as close to the center as possible). The “Center” button will typically center the part.<br />
<br />
===Rotate===<br />
Opened parts can be rotated by using the “Rotate” button on the left. This allows for the part to be rotated in 90° increments by use of the buttons on the right side or by clicking and moving the cursor. Clicking and moving the cursor is tricky and not recommended.<br />
<br />
If the part is oriented at an angle, lay flat can be selected to place the part securely on the table. Lay flat will automatically lay the part down on the table using the small<br />
===Scale===<br />
Opened parts can be scaled by using the “Scale” button on the left. Parts will scale relative to current size. If it has been scaled once, the second scale will be based of the new scaled part. <br />
<br />
For example: If a 1" part is scaled by .5 the result is a .5" part. If the part is scaled again by .5 the result is a .25" part. If, after the previous scaling, it is required the part be 1/5 the original, it must be scaled up by 2 and then down by .2.<br />
<br />
<br />
==Settings Slicing==<br />
===Supports===<br />
Supports are plastic pieces placed strategically throughout parts that have overhangs and arches to prevent the plastic from drooping when plastic layers are being placed. Only supports if absolutely necessary because it increases build time and leaves marks where the supports were attached. <br />
<br />
Supports can be added by ????<br />
<br />
===Rafts===<br />
A raft lays down a thin pattern of plastic for the part to be built on. Rafts are used to make removing the part from plate easier, to prevent warping, and to increase parts sticking together. Rafts should not be used if part is circular because the part will fail. Removing rafts can be difficult so they should only be used if necessary.<br />
<br />
===Object infill (%)===<br />
<br />
This changes the percentage of internal fill in the part. The standard 10% will suffice for most parts and is fairly strong. If extra strength is needed this can be raised. DO NOT EXCEED ??% THIS WILL JAM THE MACHINE.<br />
<br />
===Layer Height===<br />
<br />
Layer Height changes the thickness of layers. Decreasing layer height will increase the number of layers and increase build time. It will also result in a more accurate piece. Decreasing layer height can remove build errors such as: jagged arches, sagging arches, and rough fillets. It is recommended that .27mm be used for standard builds and .1mm to .15mm be used for builds that could be problematic. The minimum layer height of MakerBot is .1mm.<br />
<br />
===Number of Shells:===<br />
<br />
Changing the number of shells is necessary when a thicker outer wall is needed for [[post print processing]]. The default value of 1 fine for most builds. Changing the value will yield the following results<br />
<br />
{| class="wikitable" style="text-align:center;"<br />
|-<br />
!Number of Shells<br />
!Avg. Wall Thickness<br />
|-<br />
|1<br />
|<br />
|-<br />
|2<br />
|<br />
|-<br />
|3<br />
|<br />
|-<br />
|4<br />
|<br />
|-<br />
|5<br />
|<br />
|-<br />
|6<br />
|<br />
|}<br />
<br />
===Feedrate (mm/s)===<br />
<br />
Set feedrate to 70. This will always be the same<br />
<br />
===Travel Feedrate===<br />
<br />
Set travel feedrate to 150. This will always be the same<br />
<br />
===Print Temperature===<br />
<br />
Set print temperature to 230&deg;C. This will always be the same.<br />
<br />
==References==<br />
<references/></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:Code_Generation_(MakerBot)&diff=1467Talk:Code Generation (MakerBot)2013-05-31T16:43:05Z<p>More8927: /* Mentor Comments from 5/30/13 */</p>
<hr />
<div>OWNER: Add your name here<br />
<br />
==Insert comments below this line:==<br />
=== Mentor Comments from 5/30/13===<br />
<br />
;Discussion<br />
*Say ReplicatiorG software<br />
*Check grammar<br />
*Does the side with the most surface area have to be placed down? probably not. What about orienting your part so the shear planes are properly aligned for your application<br />
;STL File<br />
*Say "save as the typical SLDPRT also." This implies that the need to save as STL too<br />
;Steps for Generating Code<br />
*Spell acceleration correctly<br />
*Change ''"Save As"'' to what?<br />
;Part Orientation<br />
*doen isn't a word<br />
*use 1/4 instead of 1/3 for your example. This will allow whole number which is easier<br />
;Setting Slicing<br />
*Consider adding picture differentiation Supports and Rafts ([[User:More8927|More8927]] If I could get something to print with supports and rafts without failing I would.) <br />
<br />
Obviously finish everything. Check for grammar and word choice. Nice job. This is definitely one of the best pages.<br />
<br />
[[User:Bowe6786|Bowe6786]] ([[User talk:Bowe6786|talk]]) 00:08, 31 May 2013 (UTC)<br />
<br />
===Mentor Comments from 5/29/13===<br />
*Description:<br />
**See [[Developers' Bulletin#Description]] for proper formatting and content<br />
**Mention that ReplicatorG or Makerware can be used, but why ReplicatorG is preferred. But if you need to print multiple bodies at once, Makerware should be used.<br />
**Add some links/description of how to install ReplicatorG<br />
**Mention the work flow (more or less mover the content of ''Steps for Generating Code'' to the description section:<br />
***Export part to STL<br />
***Part inserting <br />
***Part orientation<br />
***Slicing settings<br />
***G-code generating<br />
***Exporting file<br />
**The above list should also be your sections<br />
<br />
*''Move'', ''Rotate'', ''Scale'', ''Support'', ''Rafts'' should all be moved under ''Part orientation''. Make sure to talk about the lay flat option, is is extremely useful. Make sure to talk about the importance of proper part orientation,<br />
<br />
*''Settings''->''Layer Height''->'The smallest MakerBot is capable of is .1mm.': Reword sentence...<br />
<br />
*Pictures<br />
**Make sure the follow they guidelines found here: [[Developers' Bulletin#Guidelines for Pictures/Figures]]<br />
<br />
[[User:Alex7832|Alex7832]] ([[User talk:Alex7832|talk]]) 16:59, 29 May 2013 (UTC)</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:Machine_Setup/Maintenance_(MakerBot)&diff=1451Talk:Machine Setup/Maintenance (MakerBot)2013-05-31T16:19:29Z<p>More8927: </p>
<hr />
<div>OWNER: Michael Moreno & Sally Mei<br />
<br />
==Insert comments below this line:==<br />
===Mentor Comments 5/30===<br />
;Description <br />
*present :-) Good job<br />
<br />
;Steps for printing<br />
*add to checklist template<br />
*Fix random capitalization<br />
*Add reference to [[Code Generation (MakerBot)]] at or before step 5.<br />
*Step 7 doesn't make sense. What plastic (the material?). Make this more clear<br />
*Make sure to link the sections in the list if you exand on them later. (Link Load/Unload Filament)<br />
<br />
;Maintaining Tape<br />
*''If If the tape looks worn and replace it. '' isn't a sentence<br />
*Finish the last sentence ''This keeps''<br />
<br />
;Leveling Base Tray<br />
**When you say ''using a set of gauges'' do you main "feeler gauge?"<br />
<br />
Overall nice job. Make sure to read through to make sure you don't have any typo's and that all information is correct (you missed an "n" in "not")<br />
<br />
[[User:Bowe6786|Bowe6786]] ([[User talk:Bowe6786|talk]]) 22:35, 30 May 2013 (UTC)<br />
<br />
Comment done in person.</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:Machine_Setup/Maintenance_(MakerBot)&diff=1450Talk:Machine Setup/Maintenance (MakerBot)2013-05-31T16:19:12Z<p>More8927: </p>
<hr />
<div>OWNER: Michael Moreno % Sally Mei<br />
<br />
==Insert comments below this line:==<br />
===Mentor Comments 5/30===<br />
;Description <br />
*present :-) Good job<br />
<br />
;Steps for printing<br />
*add to checklist template<br />
*Fix random capitalization<br />
*Add reference to [[Code Generation (MakerBot)]] at or before step 5.<br />
*Step 7 doesn't make sense. What plastic (the material?). Make this more clear<br />
*Make sure to link the sections in the list if you exand on them later. (Link Load/Unload Filament)<br />
<br />
;Maintaining Tape<br />
*''If If the tape looks worn and replace it. '' isn't a sentence<br />
*Finish the last sentence ''This keeps''<br />
<br />
;Leveling Base Tray<br />
**When you say ''using a set of gauges'' do you main "feeler gauge?"<br />
<br />
Overall nice job. Make sure to read through to make sure you don't have any typo's and that all information is correct (you missed an "n" in "not")<br />
<br />
[[User:Bowe6786|Bowe6786]] ([[User talk:Bowe6786|talk]]) 22:35, 30 May 2013 (UTC)<br />
<br />
Comment done in person.</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:Post_Print_Processing&diff=1449Talk:Post Print Processing2013-05-31T16:15:07Z<p>More8927: Created page with "Owner: Michael Moreno & Sally Mei"</p>
<hr />
<div>Owner: Michael Moreno & Sally Mei</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:3D_Printing&diff=1448Talk:3D Printing2013-05-31T16:14:26Z<p>More8927: </p>
<hr />
<div>OWNER: Michael Moreno & Sally Mei</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Talk:Part_Design_(MakerBot)&diff=1447Talk:Part Design (MakerBot)2013-05-31T16:12:24Z<p>More8927: </p>
<hr />
<div>OWNER: Michael Moreno & Sally Mei<br />
<br />
==Insert comments below this line:==<br />
=== Mentor Comments from 5/30/13 ===<br />
;Build Volume<br />
*Populate<br />
*Probably could include in ''Tolerances'' if you change<br />
;Tolerances<br />
*Consider changing name to "Machine Limitations"<br />
;Edges Touching Base Plate<br />
*Include graphic<br />
<br />
Check writing for correctness and completion.<br />
Good formatting<br />
[[User:Bowe6786|Bowe6786]] ([[User talk:Bowe6786|talk]]) 01:07, 31 May 2013 (UTC)<br />
<br />
===Mentor Comments from 5/29/13===<br />
*Description:<br />
**See [[Developers' Bulletin#Description]] for proper formatting and content<br />
**Add a brief of why parts can be difficult to design, and some of the major feature limitations.<br />
<br />
*''Steps for Preparing a Part'', ''File Name'', and ''STL File'' should be moved to the beginning of [[Code Generation (MakerBot)]] be put under a section named ''Exporting part to STL'' with the following sections:<br />
**''Prerequisites ''<br />
**''File Naming limitations''<br />
**''Exporting STL from SolidWorks''<br />
**''Exporting STL from Inventor''<br />
**''Exporting STL from CATIA''<br />
<br />
This page should be used for feature/part limitations limitations. I would recommend including a Item/Setup table with screenshots/drawings of different features/limitations. Seee: [[Developers' Bulletin#Itemized/Step by step table]]<br />
<br />
*Pictures<br />
**Make sure they follow the guidelines found here: [[Developers' Bulletin#Guidelines for Pictures/Figures]]<br />
<br />
[[User:Alex7832|Alex7832]] ([[User talk:Alex7832|talk]]) 16:38, 29 May 2013 (UTC)</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1446Part Design (MakerBot)2013-05-31T16:11:58Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
== Machine Limitations ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Build Volume===<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
[[File:Knife Edge.png |thumb|200px|Red edge will fail.]]<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1441Part Design (MakerBot)2013-05-31T16:04:16Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
== MakerBot Limitations ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Build Volume===<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
[[File:Knife Edge.png |thumb|200px|Red edge will fail.]]<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=File:Knife_Edge.png&diff=1438File:Knife Edge.png2013-05-31T15:57:01Z<p>More8927: Knife Edge Example</p>
<hr />
<div>Knife Edge Example</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1265Part Design (MakerBot)2013-05-31T00:55:56Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
Parts cannot exceed 11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1264Part Design (MakerBot)2013-05-31T00:55:39Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
Parts cannot exceed11.2 L x 6.0 W x 6.1 H in. This is the maximum print size MakerBot can print.<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1260Part Design (MakerBot)2013-05-31T00:53:29Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform.<br />
<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1257Part Design (MakerBot)2013-05-31T00:52:25Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
|[[File:MakerbotMiniExtrudes.JPG |thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform. <br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Failed Arch Example]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1256Part Design (MakerBot)2013-05-31T00:51:14Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform. <br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
|-<br />
|style="vertical-align:top;"|Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
|[[File:Arch Fail.JPG|thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
<br />
|-<br />
|colspan="2"|<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=File:Arch_Fail.JPG&diff=1254File:Arch Fail.JPG2013-05-31T00:47:44Z<p>More8927: </p>
<hr />
<div></div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1245Part Design (MakerBot)2013-05-31T00:42:26Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform. <br />
|[[File:MakerbotMiniExtrudes.JPG|thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
<br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
Edges that are touching the base plate cannot come to a peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
<br />
==References==<br />
<references/><br />
|}</div>More8927https://mindworks.shoutwiki.com/w/index.php?title=Part_Design_(MakerBot)&diff=1242Part Design (MakerBot)2013-05-31T00:40:57Z<p>More8927: </p>
<hr />
<div><p style="margin-left:25px"> ''Main Article: [[3D Printing]]''</p><br />
<br />
Before printing parts on the MakerBot, the parts must be designed to meet the geometric and building constraints of the machine. This includes matching the machine's tolerance capabilities, shrinkage/expansion, accommodating for hole precision, and building arches and overhangs with supports or fillets to avoid sagging.<br />
{|<br />
|-<br />
|colspan="2"|<br />
==Build Volume==<br />
<br />
== Tolerances ==<br />
|-<br />
|style="vertical-align:top;"|MakerBot has specific tolerances that need to be met in order for the part to be printed correctly. All finished parts will have a variance on the X, Y, and Z axes. There will be a 0.3% variance in the X axis , 0.2% in the Y axis, and 0.4% in the Z axis. Parts should be designed bigger/smaller and machined to tolerance if accuracy is necessary. <br />
<br />
In addition, MakerBot has a minimum layer height of 0.1 mm. The layer height can be adjusted accordingly for the part that is being printed.<br />
<br />
<p style="margin-left:25px"> '''NOTE:''' As the nozzle moves further away form the center the less accurate the part will be.<br />
===Minimum Extrude Tolerance===<br />
MakerBot is unable to print parts (or parts that have features) that have a diameter of 3/32" or smaller. <br />
<br />
===Minimum Wall Tolerance===<br />
When designing cuts into parts, the cuts need to be placed a minimum of 1/32" away form the wall. If it the cut is too close to the wall it will cause the deform. <br />
|[[File:MakerbotMiniExtrudes.JPG|thumb|200px|Minimum Extrude Tolerance and Wall Deformation]]<br />
|-<br />
|colspan="2"|<br />
== Overhangs and Arches ==<br />
Overhangs and arches larger than 1" will sag because there is no material supporting them. Selecting rafts/supports when generating the MakerBot code will support add rafts and supports. Rafts/supports should be avoided when printing parts that contains circular edge(s) on the base plate because MakerBot will fail to print parts using its standard supports and rafts feature. For arches and overhangs at 90º, a fillet can be added to prevent sagging. Alternatively support material must be designed onto the part in the 3D design program. <br />
== Edges ==<br />
All outside edges automatically have a rounded edge of 3/32". This is due to the size of the filament when it is being extruded. <br />
=== Hole Design ===<br />
When printing a part that contains a hole design in it, set the shell thickness to '2' and make the hole 0.005" smaller in the 3D design program. After the part is printed, the hole can be drilled to size. Refer to [[Post Print Processing#Drilling and Tapping|Drilling and Tapping]] for drilling recommendations.<br />
===Edges Touching Base Plate===<br />
For edges that are touching the base plate cannot peak on the base plate, they must be at least 3/32" wide to avoid print failure. <br />
<br />
==References==<br />
<references/><br />
|}</div>More8927