1

AscendTech
TechnologiesInc.

ArchelonROV2016-2017
AscendTech4-HRoboticsClub
MonmouthCounty,NewJersey,USA

Staff
AlissaTsai-ChiefExecutiveOfficerandMechanicalEngineer
AliceLai-ChiefOperationsOfficerandElectricalEngineer
EricZheng-ChiefProductionOfficerandMechanicalEngineer
JadenWeiss-ChiefTechnologyOfficerandPilot
RishiSalwi-ChiefFinancialOfficerandElectricalEngineer
KatrinaFlorendo-R&DandMechanicalEngineer
SamAlws-Pilot&SoftwareEngineer
AlisaLai-R&DandMechanicalEngineer
ArihantJain-R&DandSoftwareEngineer
MatthewRosivack-R&DandElectricalEngineer
KaishawnWilliams-SafetyOfficerandMechanicalEngineer
RosalieDiSimone-Weiss-Advisor

TableofContents
I. Introduction 3
A. Abstract 3

II. Design Rationale 3

A. Structure (Frame) 3
B. Bottomside Electronics Tube 4
C. Thrusters 6
D. Control System 7
E. Ballast System 9
F. Camera Sensors 9
G. Payload Tools 11
A. Laser 11
B. Claw 12
C. Agar Sampler 12
H. Troubleshooting 13

III. Safety Features and Evaluation 14

A. Safety Evaluation 14
B. Safety Features 15
C. Safety Checklists 16

IV. Logistics 17
A. Teamwork Evaluation and Task Spreadsheet 17
B. Gantt Charts 18
C. Budget and Expense Sheet 19

V. Block Diagram/Flow Chart 22

VI. Conclusion 24
A. Description of a Challenge 24
B. Lessons Learned and Skills Gained 25
C. Future Improvements 25
D. Reflections / Experiences 26
Underclassman 26
Upperclassman 26
E. Acknowledgements 26
F. References 27
3

I. Introduction
A. Abstract
ArchelonisAscendTechTechnologiesInc.sfirstRemotely-OperatedVehicle(ROV),andis
designedwiththepurposeofstreamliningcommerceaswellasbenefitingthehealth
andsafetyofthegeneralpublic.Archelonfeaturespowerful,advancedimage-processing
softwareaswellasarobust,modular,economicaldesign.Asalightweightand
compactvehicle,theArchelonROVisperfectforoperatinginprecariousconditionsto
addresstheissuesonourseaportsandwaterfronts.

AscendTechTechnologiesisanindependentroboticstechnologyfirmfoundedinAugust
2016afterthedisbandmentoftheFuryTechcompanyofHighTechnologyHighSchool.
Thistechnicalreportdescribesthedevelopmentprocessanddesigndetailsthatmake
ArchelontheoptimalROVtofullymeettherequirementsspecifiedinthePortofLong
BeachRequestforProposals(RFP).

Figure1:CompanyphotoofAscendTechTechnologiesInc.

II. Design Rationale

A. Structure (Frame)
Inordertoprovidestructureandsupportforthethrusters,polyvinylchloride(PVC)
tubingisutilizedtoconstructaframefortheROV.Thewater-resistant,lightweight,and
readily-accessiblepropertiesofPVCmakethismaterialaperfectchoice.Thesafety
yellowpipingisdesignedtosecurestructuralintegritywithoutsacrificingweight,with
thepipesandconnectorsdimensionedtoensureaproperfitbetweeneachpieceof
tubing.Theholesalsoallowforeasydrainingofthepipingandeliminatesthedifficulty
ofensuringwatertightsealsinthePVCtubes.
4

Toimprovethemovementoftherobot,twopolypropylenewingsareattachedtothe
PVCframe.Thesewingsaremanufacturedwith0.9525centimeterthickpolypropylene
sheetscutintoarectangularshapewithasemi-circleedgesononesideand
tear-shapededgesontheother.TwoDshapedholes,one12.7centimeterholeinthe
centerfortheelectronicstube,four0.635centimeterholesforthethreadedrods
securingtheelectronicstube,andfour1.27centimeter()holesforthePVCtubing
arecutineachtube.Thehydrodynamicshapeofthewingsallowthemovementofthe
robottobestreamlined.

Figure2:Framewithmotorsandclawattached

Thetubingisfedthroughthe1.27cmholes,extending7cmfromthewingsonboth
sides.ThepipesperpendiculartoeachotherareallconnectedbyPVCconnectors,and
aresealedwithPVCcementtoensurearigidbondonalltheconnections.

B. Bottomside Electronics Tube

Archelonsbottomsideelectronicsarehousedina12.7cmdiameteracrylictubesealed
withcustom-CNC-machinedaluminumendcapplates.Thealuminumendcapplates
consistofamultiplelayersofaluminumandrubber,compressedandsecuredtightly
by8screwsevenlyspacedapart.
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Figure3:Explodedviewofcustom-madealuminumendcapplate

Acrylicischosenbecauseitstransparencyallowsthebottomsideelectronicstobeeasily
seen,andhasnearly-neutralbuoyancyproperties.Thetubescylindricalshapealsoadds
hydrodynamacytotheoverallROV.Thetubescylindricalshapeisselectedtoreduce
dragunderwaterwhilemaintainingasimple,pressure-resistantgeometry.

TheendcapplateshaveIP68-rated,military-gradewaterproofconnectorpenetrations,
whichallowforpowersupplyaswellascommunicationbetweentheOdroidXU4SoC
andtheTeensyUSB-microcontrollerboardthroughtheCANBuscommunication
protocol.

Thebottomsideelectronicstubeiscomprisedoftwodistinctcontrolboards,separated
intothemotordriverandsensorcontrolboards.Allintegratedcircuits(ICs)and
microcontrollershavecorrespondingICsocketssolderedintotheboards,sothatthe
electronicsareeasilyreplaceable.

Figure4:PCBDiagramofMotorDriverBoardFigure5:PCBDiagramofMainControl
Board

C. Propulsion (Motors)

Figure6:MotorShield Figure7:CADDrawingofPVCAttachment

Toensurethatthemotorsusedarecompletelywaterproof,modifiedbilgepumpsare
implementedfortheROV.Bilgepumpswerechosenbecausetheyarebrushlessand
thereforeinherentlywaterproof.TheRule800GPHbilgepumperswerechosenafter
manytrialstodeterminethebilgepumpwiththemostefficient
thrust-per-amperage-drawn.Thecasingforthebilgepumpmotorswereremovedalong
withtheimpeller.Aftertestingpropellerswithvaryingamountsofbladesandblade
sizes,thethree-blade60mmdiameterplasticmodelboatpropellerswerechosenfor
maximumthrust.Theseweretheninstalledonall8drivebilgepumpmotorsonthe
ROVwithabilgeshaftadapter.Theadapteralsocontainsascrewthatrunsthrough
thecenterofthepropeller,whichisthensecuredwithawasherandnut.
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ThemotorsaremountedtotheROVusing3Dprintedhousingandattachmentpieces
thatweredesignedinAutodeskInventorbytwocompanymembers.Thehousing
designconsistsoftwosemi-circlesthatclamparoundthemotorandaretightenedwith
screwsandnutsontheside.ThePVCattachmentdesignfeaturesfourholesthatalign
withthefourholesonthehousingdesignandclampdownonthePVCsimilartohow
thehousingpiecesclampdownonthemotor.Thistwopiecesystemforattaching
motorsiseffectivelymodular,andallowsthecompanytobeabletopositionthe
motorsatprecise,desireablelocations,givingthemotorplacementexcellentsymmetry
andtheROVgreaterstabilityinthewater.Thebrightyellowcolor,protectivehousing,
andchickenmesh(placedinfrontofthepropellers)allservetomakethemotorsafer
whenitisspinningandtopreventdebrisfrominterruptingthemovementofthe
motors.

D. Control System
Thecontrolsystemisdesignedinamodularfashionforeasymaintenance.The
thrustersoftheROVarecontrolledbyanATtiny88AVRmicrocontroller,whichis
connectedtoaTeensy3.2developmentboardthroughserialcommunication.The
Teensy3.2managestheclawandservo,andmaintainsaconnectionwiththetopside
controlsystem.Therearealso3camerasunderwaterwhichhavetheirowndedicated
datawires.

Abovewater,cameradatacablesarefedinto3USBcapturecards.Thesecapture
cards,aswellasanMCP2515CANBusadapterforcommunication,areconnectedto
anOdroidXU4,whichinturnconnectedwirelesslyto2computersviaaWiFihotspot.
Onecomputerhasaprogrammanagingthepilotinterface,andonehasaprogram
managingthecopilotinterface.

Bothprogramshostawebsiteonlocalhostandmaintainawebsocketconnectiononce
theusergoestothesiteonawebbrowser.Thepilotinterfacehascontrolsforthe
claw,laser,andmovement.Italsoincludesa2frames-per-secondviewfromthemain
camera.Thecopilotinterfacehasnocontrolsbuthasimagesfromall3camerasso
imageanalysismaybeperformed.
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Figure8:Pilotcontrolinterface

Figure9:SystemInterconnectionDiagram

E. Ballast System
OneofthemostsignificantaspectsofROVoperationismaintainingrelativelyneutral
buoyancy.WhentheROVisunderwater,theforcesofgravityandbuoyancy
simultaneouslyactontheROV;keepingthecorrectbalancebetweenthetwoiscrucial
9
inordertoallowtherobottoremainstableandstationarywithouthavingtoengage
itspropulsionsystemcontinuously.NeutralbuoyancyontheROVisachievedthrougha
combinationofdifferentballastsandcounterweights.Thelargestballastisthe
electronicstubeitself;theacrylictubeissealedwithrubberO-ringsandaluminumend
caps,allowingittofunctionasalarge,airtightballast.Blocksofclosedcellfoamare
mountedtothetopoftheROVinordertomakethetopmorebuoyantthanthe
bottom;thisisbeneficialbecauseitensuresthatintheeventthattheROVistiltedon
itsside,buoyantforceswillallowittorightitselfwithoutoperatorintervention.Also,
holesaredrilledintothePVCtoallowwatertoeasilyenterandexittheframe.
AllowingwatertoentertheframeensuresthattheROVframedoesnotremain
airtight,whichwouldhavebeendifficulttomaintainandwouldhavemadetheROVfar
toobuoyant.Bycarefullypositioningtheseballastcomponents,thecompanywasable
toensurethattheROVwouldhaveanoverallneutralbuoyancy.Theballastsare
positionedawayfromthecenteroftheROVinordertoallowthebuoyantforcesto
exertgreatertorque,allowingtheROVtorightitselfmorequicklyintheeventofbeing
tippedover.

F. Camera Sensors
InordertofacilitatetheoperationoftheROV,therearethreedual-purposecamera
sensorsthatallowtheoperatortoviewtheunderwaterenvironmentastheROV
completesitstasks.ThecompanyusesSecurityLabsSLC-137Ccamerasandsheaths
frompreviousyearsbutchosetoremovethefisheyelensesduetoissueswith
waterproofing.Thecamerasignalsaresenttothetwopoolsidelaptopmonitorsforthe
pilotandcopilot.

Figure10:Camerawithorangesheath
Thecamerasareusednotonlytogivetheoperatorsanunderwaterviewbutalsoto
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determinedistancesbetweenobjectsunderwater.Thetwofront-facingcamerasare
constrainedtolieinthesameplaneatafixeddistancefromeachother.Becausethe
distancebetweenthetwocamerasisknown,thedistancefromtheROVtoanobjectin
bothcamerasfieldofviewcanbecalculatedbyfindingtheoffsetbetweenthe
locationsoftheobjectinpicturestakenbybothcameras.Twoimagestakenbythe
adjacentcamerasareanalyzedusingImageJsoftware,alow-costphotographicimage
analysissolution.Then,aformulaisapplied:

whereBisthedistancebetweenthetwocameras,x0isthenumberofhorizontalpixels

intheimage,0 isthecamerashorizontalangleofview,(xL-x
D) istheoffset,in
pixels,ofthehorizontallocationofthetargetobjectinthetwoimagestakenbythe
differentcameras,andDisthedistancefromthecamerastotheobject(Mrovljeand
Vrancic2).

Onedifficultyinthiscalculationistherefractionoflightunderwater.Eveniftheangle
ofview0canbedeterminedtoahighdegreeofaccuracyinair,wateratdifferent

temperaturesmayrefractthelight,completelythrowingoffthecalculations.This
drawbackisovercomebyusingapointontheclawataknowndistanceinthewater
tocalibratethecameraseachtimeameasurementistaken,andthusaccurately
determine0inanycircumstances.

Figure11:AnalysisoftwoimagesusingtheImageJsoftware
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G. Payload Tools
A. Laser
Thelaserindicatorisplacedontheinsideofthetransparentacrylicbottomside
electronicstube.Thelaserdeviceismountedatanangletotheelectronicsboarditself
usingacustom-madepolypropylenestand.Placingthelaserinsidethetuberesolves
anydifficultieswithwaterproofingwhilestillallowingthelasertosimulateaRaman
spectrometer.ThelaserispoweredthroughtheMATEsurfacepowersupplyandis
switchedonandoffthroughthesurfacecontrolmonitor.Thespecificdevicechosenby
thecompanywasa650nmredlaseroperatingat5mW.

Figure12:CADmodelofLaser Figure13:Thelaser,mountedtothemain
andLaserMount electronicsboard

B. Claw

Figure14:CADdrawingofclaw Figure15:Commercialclaw

Thisyear,thecompanyhasdecidedtoutilizeacommercialclawratherthanretainthe
self-madeclawfromlastyear.Lastyearsclawwasbulkyandunstable;suchaclaw
wouldbeunsuitableforthisyearstasks,whichinvolvenavigatinginsidestructuresand
movingvalvesbypreciseamounts.UsingacommercialclawensuredthattheROV
wouldbeabletomaintainexcellentperformancewithoutsacrificingagilityor
robustness.InkeepingwiththeROVsoverallthemeofcompact,efficientperformance,
12
thecompanychosethisclawduetoitssolidbuildandsmallsize.Theclawis
controlledbytwomotors:one500GPHbilgepumpthatrotatesthewristandone
servomotorthatopensandclosestheclawgrip.

C. Agar Sampler

Figure16:CADdrawingofagarsamplerFigure17:Agarsampler

Ourcompanycalculatedthevolumeofagarneededforthemission,andhandpickeda
1inchdiameterPVCtubeasthecontainer.Afterconductingresearch,thecompany
decidedtoplaceaone-wayvalveontopofthePVCtubetocreateasuctionthatwould
helpkeeptheagarinplace.Aftermanytrials,thecompanyplacedanadditionalvalve
atthebottomofsampler,sothattheagarsweightpushesdownonthevalveflap,
therebypreventinganyagarfromfallingout.Thecompanysagarsamplerfeatures
durablepolyesterstringatthebottomoftheagarsamplertocuttheagarintosmaller
chunksforeffortlesssampling.TheagarsampleralsofeaturesaPVCringonthetop
valvetocreateaplacewheretheclawisabletograspthesampler.

H. Troubleshooting

Figure18:ThecombinationofpropsbuiltforMATERanger2017testing
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TheconstructionoftheROVrequiredmanytrialsandimprovements,fromdebugging
on-boardsoftwaretostabilizingtherobotsmovementsinthewater.Thecompany
approachedthisprocessoftrial-and-errorbycreatingseveraltoolstoaidinthe
troubleshootingprocess.Forinstance,thecompanydevelopedaprogramtoruneach
motorindividuallyinaloopinordertoassessthefunctionalityofeachmotorand
H-bridge.Aftertheairtightsealoftheacrylictubeandtheproperoperationofthe
motorsweredetermined,thecompanywrotethenecessarysoftware,refinedthe
payloadtools,andpracticedmaneuveringtheROVunderwater.Inordertogivethe
pilotvaluabledrivingexperienceandidentifyissuesthatmaynothavebeen
immediatelyevidentduringthedevelopmentphase,thecompanycreatedpropsto
simulatetheactualcompetitiontasks.Unlikelastyearsprops,thisyearspropswere
designedtoreflectasaccuratelyaspossiblethedimensions,materials,andstructures
thatwouldbeencounteredduringthecompetitioninordertosimulatemoreprecisely
themovementsthattheROVwouldberequiredtoperform.

III. Safety Features and Evaluation

A. Safety Evaluation
Asaspiringfutureengineers,thecompanymembersfullyrecognizetheimportanceof
incorporatingsafetyfeaturesintoallofitsprojects.ThephilosophyofAscendTech
Technologiesisthatsafetyisoftheutmostimportance,andundernocircumstances
shouldanymemberneglecttofollowtherigoroussafetyproceduresinplace.Each
componentoftheArchelonROVisdesignedtobefullyfunctionalwhilebeingmindfulof
allsafetyregulations.

TheArchelonROVsdesignincorporatesseveralsafetyfeatures,includingblackindicator
tapesurroundingthemodifiedbilgepumpmotors,prominentpowerconnectorsto
preventaccidentalusewithhouseholdelectricaloutlets,fullysecuredwires,andmotors
thataremountedtotheinterioroftheframetopreventinjury.

Furthermore,thecompanysofficersworkhardtohighlighttheimportanceofsafety
duringthedesignprocessandespeciallyduringconstructiontimes.Allmembersalso
agreetoabidebyallsafetyrulesasstatedintheAscendTech4-HSafetyGuidelines,
suchaswearingsafetygogglesandappropriateclothingatalltimes.Inthisway,the
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companyisabletomaintainasafeandefficientenvironment.

B. Safety Features
Frame:
Brightyellowcoloringforeasyvisibilityunderwater
Noloosecomponents
Nosharpedges
Motors:
3Dprintedinyellowforhighvisibility
Nettingmadeoutofchicken-wirefencingtopreventdebrisoffreefloating
objectsfromgettingcaught
Tether:
Weatherproofcablefordataandpower
Audioconnectorplugsthatcliponsothattheydontcomeoutbyaccident
Allportsarelabeled
Tetherisbundledinsideacableorganizersothatitbecomesonemanageable
cable
Tetherispermanentlysecuredtobottomsidetubeusingepoxyresintoseal
Powerandgroundarerunthroughtwocablesinsteadofone:
Doublethegaugingoncabletohandlemorecurrent
Cablescanbetwistedsotheresnomagneticinterference
TopsideElectronics:
25A12Vfuselessthan3inchesfrompowersupply,anda25A12Vfuseinside
box
Circuitbreakerafterfuse
Ammeterthatmeasurescurrentdraw
Digitalvoltmeterthatallowsforeasyvoltagemonitoring
Largefiltrationcapacitortocontrolanyspikes
Electronicsboxcanbeclosedfortestingintherainorotherdampenvironments
Silicageldesiccantinsidetheboxtoabsorbmoisture
Allwiringisproperlygaugedtohandlethepropercurrentdraw,andziptiedfor
organization
Allconnectorsgoingto/fromtopsidearealldisconnectableyetalsoverysecure
Bottomside:
Allcomponentsaresolderedorscrewedsecurelywithnoloosecomponents
Wiringgaugeismaintainedsothattherightpowerdrawcanbehandled
Allcomponentsthatcouldpossiblyheatuphaveheatsinksonthem
15
Silicageldesiccantinsidetubetoabsorbmoisture
LEDlightsfrommodulesareintentionallyfacedoutwardsothecompanycan
checkstatusthroughthecleartube.Acleartubewaschosensotheinternal
activitycanbemonitored.
Onesideofthetubeispermanentlysealedwithaquariumsealant
Othersideisaremovablecompressionsealwithano-ringandnutstocompress
thetube
Silicongreaseaddedeachtimethetubeisclosedtosupplementtheo-ring

C. Safety Checklists
CompanySafetyChecklist:
Allmembersbehaveappropriately:nohorseplay,norunningwithtools,no
hitting
Allmemberswearsafetygoggles,closed-toedshoes,andlongpants
Allmemberswithlonghairweartheirhairtiedbackandsecured
Allmembersfullyinformedaboutemergencyprocedures
Thereisalwaysatleastoneparentintheroom
First-aidkitwithinreach,incaseofinjury
Anymemberwhorequiresuseatoolwarnstheothermemberstosteerclearof
themembersworkarea

PhysicalSafetyChecklist:
Allsharpedgesandobjectscoveredtopreventinjurytohandsofanyoperators
ortransportersoftheROV
PVCframefirmlysecured
Blackindicatortapesecurearoundmodifiedbilgepumpmotors
Motorsaremountedtotheinterioroftheframetopreventinjury
ROVtransportcarriedoutbyatlast2clubmembersforsafehandling
ElectricalSafetyChecklist:
25Ampfusepresent
Nocracksinelectroniccasing
Nonstandardpowerconnectorstopreventusewithhouseholdelectricaloutlets
Allwiressecured,sealed,andnotexposedinanyway
Underwaterwireconnectionssealedwithsolidepoxy
Pre/During/PostOperationChecklist:
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Environmentissafeforoperation:weatheracceptable,launchplatformstable
anddry,nootherhazardspresent
Motordryrun
Endeffectortesting(cameras,claw)

IV. Logistics
A. Teamwork Evaluation and Task Spreadsheet
Thecompanyispleasedwiththeenvironmentofcollaborationthroughouttheprocess
asallmemberssupportedoneanotherinachievingthisgoal.Theofficersassignthe
memberstoworkontheframe,propulsion,eachpayloadtool,etc.Themembersare
expectedtocompletetheirtaskinaspecifictimeframeandreportontheirprogressat
everyworkmeeting.Hangoutchatsandemailchainsaremadewhichserveasaforum
forupdatesintaskprogressandschedules.

Tostayonscheduleandworkasefficientlyaspossible,thecompanychosetoutilizea
spreadsheettokeeptrackofallthetaskstobecompleted.Thecompanythen
consultedthisspreadsheetandmodifieditthroughoutthedurationoftheproject
dependentuponprogressandotheroccurrences.Wheneverataskwascompleted,the
memberwouldreportforanofficeraboutthecompletionandtheofficerwouldedit
thespreadsheetwithaYforyesnexttothemembersrespectivetaskandassigna
newtaskifpossible.

Figure19:Screenshotofspreadsheetusedtocoordinatetasksanddeadlines
17

B.GanttCharts
WeusedGanttchartstoplanoutallofourworksothatwecouldcompleteallofthe
tasksontime.Sometimes,taskswouldoverlapsowehadtoassigntaskstodifferent
groups

Workshops

Website

Robot
18

C. Budget and Expense Sheet

AscendTechfundraisedusingavarietyofmethodstopurchaseallnecessarypartsand
materialsforconstructionoftherobot.Thelistbelowreflectsalloftheitems
purchasedduringthe2016-2017schoolyear.Thecompanywouldliketothank
MonmouthUniversityandtheWeissfamilyfordonatingtheirservicesbyprovidinga
poolfortestingoftherobot.

Wewouldalsoliketothankourgenerousdonorswhomadethiscompetitionyear
possible
Table1:DonationSources
Donor Amount
EllenWeiss $75
GaryWeiss&RosalieDiSimone-Weiss $100
HelenLam&RichardWang $500
19

ChengmaoTsai&Yun-chuKu $200
YunghuiLai&LichuanSun $300
Rajendrakumar&NeelamSalwi $200

Table2:EquipmentDonations
Donor Item Cost Notes
IainGallowayfrom 4Teensy3.1,aTeensy3.2,a $140.20 Usedinbottomside
NXPSemiconductors TeensyLCand2PropShields electronics
Rosalie WaterproofSealantwithBioS $4.84 Usedinwaterproofing
DiSimone-Weiss endcapplates
ChengmaoTsai O-Ring,Dash248Buna0.13 $6.90 Usedinwaterproofing
in endcapplates
ChengmaoTsai Arduino-CompatibleNano $8.99 Oldtopsideelectronics
ChengmaoTsai Mega2560(Arduino $17.50 Usedinbottomside
Compatible) electronics
ChengmaoTsai FemaleHeaderPins(rowof $1.49 Usedingeneral
40) electronics
ChengmaoTsai Max485ModuleforArduino: $5.25 Oldbottomside
TTLtoRS-485 electronics
UlricGordon-Lewis Aluminum6x6Sheet $16.08 Machinedtocreateend
caps
UlricGordon-Lewis RubberSheet12x12 $15.01 Machinedtocreate2nd
Sheet layerofendcaps
UlricGordon-Lewis Aluminum6x6Sheet $14.15 Machinedtocreate3rd
layerofendcaps

Table3:ROVComponentsBoughtDuring2016-2017Season
ROVComponent Cost Notes
OdroidXU4SoC $96.18 Single-BoardcomputerforROV
system
Teensy3.2 $24.45 Arduinodevelopmentboard
FotoFoWifiAdapter $5.99 Usedtoconnecttheboardwirelessly
Teensy3.2 $24.45 Arduinodevelopmentboard
50Pcs3Way3PinPCBScrew $21.57 Usedtoconnectwirestocircuit
20

CastAcrylicHollowTube $44.52 Usedtohouseelectronicsunderwater

UxcellSD2828mm7PinSquare $14.52 Bottomsideelectronicstube
WaterproofAviationConnector penetrationconnectors
SocketWaterproofIP68
WaterproofSealant $14.02 Waterproofing
6ftThreadedStainlessSteelRod $6.42 Usedforstructure
3ftThreadedRod $2.14 Usedforstructure
SD2828mm24PinSquare $38.62 Bottomsideelectronicstube
WaterproofAviationConnectorPlug penetrationconnectors
SocketIP68X2
Focusable650nm5mW35VRed $1.33 Laserpayloadtool
Laser"Line"ModuleDiodew/driver
PlasticLens(2Pack)
AixiZaluminummountandheat $3.50 Mountforlaser
sinkfor12mmmodules
30-pinand12-pinHeaderSocketsX $12.70 UsedtohouseICs
3
6pcsMP1584ENDC-DC3APower $3.31 Usedtostepdown12voltsto5
Step-DownAdjustableModuleBuck volts
ConverterHCXM
HalfBridge(4)DriverDCMotorsX $12.15 Usedtocontrolthedirectionof
5 motors
ICSocket16PositionTinX6 $1.50 UsedtohouseICs
ICSocket28PositionTinX2 $0.66 UsedtohouseICs
Connector8Position90Degree $4.35 UsedtohouseICs
5mmX3
MechanicalClaw $42.70 Usedtopickupobjects
PololuUniversalAluminum $11.44 Adapterbetweenmechanicalclaw
MountingHub and500GPHJohnsonPump

Table4:PartsReusedfrom2015-16Year
Item Cost Notes
Polypropylene(PP)Sheet,Opaque $37.42 Usedforstructure
White,StandardTolerance,ASTM
21

D4101-0112()
Polypropylene(PP)Sheet,Opaque $31.08 Usedforstructure
White,StandardTolerance,ASTM
D4101-0112()
inx10ftPVCPipe $5.79 Usedforstructure
inFurnitureGradePVCTeein $29.97 Usedforstructure
White(10-Pack)

inFurnitureGradePVC90 $18.00 Usedforstructure

DegreeElbowinWhite(10-Pack)
Ancor764998MarineGrade $10.99 Usedtowaterproofwires
ElectricalWireSeal18-10Gauge
inch
Ancor765004MarineGrade $29.76 Usedtowaterproofwires
ElectricalWireSeal(RoundCable,1
to3/0-Gaugeinch)
EpoxyResin $10.32 Usedforadhesive

Table5:MiscellaneousCosts
Item Cost
T-Shirts $233.59
CostcoFoodforWorkshop $57.78
ShopRiteFoodforWorkshop $4.98
HersheyChocolateFundraiserCosts $264

Table6:EstimatedTravelCosts
Hotel/FlightCosts $5435.36

Table7:SourcesofIncome
Source Revenue
HersheyChocolateFundraiser $315.00
GiftWrappingFundraiser $123.45
22

V. Block Diagram/Flow Charts

23

VI. Community Outreach

A. Maker Faire
OurcompanypresentedattheWorldMakerFaireinNewYork.Wewereabletodemo
ourrobotanddisplayourworktointerestedattendees.Itwasagreatexperience,and
wereceivedpositivefeedbackaboutourROV.Inaddition,ourmemberswereableto
learnfromotherMakerswhowerepresentingattheFaire.

B. Library Workshop
Oneofthegoalsofourcompany,istogetyoungerkidsinterestedinSTEM.Todothis,
weheldafreeworkshopatourlocallibrarytoteachcircuitryandcoding.The
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participantsonlyhadtopayforequipment.The30kidsandadultshadalotoffun
learn inghowtoprogramanArduinoMicroprocessortomakealightblink,display
wordsonadisplay,andmakeaclock.Weplantodoanotherworkshopformore
advancedstudentsaftertheMATEcompetition.

C. Mini Maker Faire

BarnesandNoblesheldaMiniMakerFairetodemonewtechnologytochildrenand
teenagers.Wevolunteeredtopresentthenewtechnologyandourrobot.Wedemoed
technologysuchasa3Dwritingpen,3Dprinters,anddrones.Thekidslearnedalot
aboutroboticsandtechnologyfromourpresentationandwewereveryexcitedabout
gettingchildreninterestedinSTEM.

VII. Conclusion
A. Challenges
Theprimarychallengefacedbythecompanywasefficientcommunication.Coordinating
eachmembersscheduleinordertooptimizetheprocessandkeepeverybodyupto
datewaschallengingascompanymembersrangedinscheduleavailabilityand
geographicallocation.Thecompanyapproachedthischallengebysendingoutfrequent
emailsandholdingweeklymeetingstoprovidethoroughupdatesonthecompanys
progressandintroducenextsteps.SendingDoodlesurveysforthememberstofillout
allowedtheofficerstochooseatimetoschedulemeetingswhenmost,ifnotall,the
memberscouldattend.Itwasalsofairlycommonformessagestobesentthrough
groupchats,whichallowedmemberstohelpeachothersolvetheirrespectiveproblems
andupdatemembersaboutschedulechanges.Forgeographicallocation,thecompany
triedtomeetatamembershouseforwhichthelocationwasfavorableforeveryones
traveltime.

Creatingarobotthatcannavigateunderwaterandaccomplishtaskscamewithalot
ofproblems.Oneofthebiggestchallengeswaswaterproofingallthetechnology.We
usedanaluminumendcap,waterproofconnectors,andwaterproofsealantto
accomplishthistask.Whenconnectingwiresthatweregoingunderwater,wehadto
solderthewires,hotgluetheconnection,andthenheatshrinkthewires.Another
significantchallengewasgettingoptimalpartsforourgoals.Sometimespartswere
faulty,couldnthandlethecurrent,orwerentappropriateforourcircuit.Inthiscase,
wehadtoeitherbuynewpartsorredesignourcircuit.Intheend,after
troubleshootingandmonthsofhardworkwehadfinishedourproject.
25

B. Lessons Learned and Skills Gained

Oneofthemostimportantlessonsthecompanylearnedwasintheoptimizationand
managementofresources.Asthecompanyhadlimitedfundstobuymaterialswith,
thememberswerehardpressedtofindwaystoreducethecostofassemblingthe
robot.Atothertimes,thecompanyfoundthatsomepeoplehadcertainskillsetsthat
wereinstrumentaltothebuildingoftheprojectbutwerenotalwaysabletomeetwith
thecompany.Thisyearpresentedaparticularlydifficultchallengeincoordination,since
itwasthefirstyearoftheAscendTechorganization.However,byovercomingthese
obstacleswithganttchartsanddetailedschedules,thecompanylearnedtohowto
bestutilizethememberstalentstoproduceahigh-qualityfinalproduct.Thecompany
developedcollaborationandtimemanagementskillsandfurtherimproveduponthe
abilitytodelegatetasks,allofwhichcontributedtotheoverallsuccess.

C. Future Improvements
Thoughthecompanywasabletoachievetheirobjectives,thecompanyalsobelievesin
constantinnovationasthereisalwaysroomformoreimprovement.TheAscendTech
RoboticscompanyiscurrentlyplanningseveralimprovementstotheROVdesign.
Currently,partoftheelectronicssystemistopsideandpartisunderwater.Though
havingpartoftheelectronicssystemwithintheROVframeleadstolesspowerloss
throughthetether,itaddstotheoverallbulkoftheROV.Byusinglighter
components,especiallyintheprotectivecasing,theROVcouldbecomelighterand
moreagile.Inaddition,investinginaprofessionalprintedcircuitboardwould
significantlyreducewiringerrorsanddisconnections,improvingoverallefficiency.This
solutioncouldfeasiblyeliminatetheneedfortheclunkyphysicalreferencer.
Improvementstopayloadtoolsincludemakingtheagardevicemorecompactand
easiertouse.Currently,itisawkwardinsizeandweight,causingtheROVtotilt
dangerouslywhentheclawholdstheagardevice.Byusingasmallercheckvalve,such
asthatonabicyclepumporascubamask,thecompanycouldeliminatepartofthe
size.ReducingthewidthofthePVCtubesedgeswouldalsoeliminateunnecessary
weight.

D. Reflections / Experiences
Underclassman
Iobservedtheseniormembersoftheteamandthroughobservationlearnedmany
newthings:thedesignprocess,howtowriteatechnicalreport,andsomeoftheissues
26
thatarisewhenconstructinganROV.Itwasamazingthateventhoughitwasthefirst
yearthisclubexisted,themembersworkeddedicatedlytobuildtherobotandraise
moneytofundtheclub.Ihelpedwritethetechnicalreportandcreatedpropstotest
therobotwith.ThetimethatIhavespentinthisclubissomethingthatIcouldnever
haveexperiencedintheclassroomorintheclubsatschool.Icantwaittodiscover
whatkindofknowledgeandskillsIwillacquireparticipatinginthisclubnextyear.
~KatrinaFlorendo,Freshman

Upperclassman
ParticipatinginMATEcompetitionswasamajorfactorthatfueledmyinterestin
STEM.AttendingaSTEMhighschoolandgettinginvolvedinroboticshasopenedmy
eyestothepaucityoffemalesinSTEMfields,andImproudtohelpbreakdownthis
barrier.MATEhelpedmerealizemyinterestsliegreatlyinscienceandtechnologyandI
amexcitedtocontinueresearch,science,androboticsincollege.Iwillneverforgetthe
integralpartMATEhasplayedinmyhighschoolcareer!
~AlissaTsai,Senior

E. Acknowledgements
TheAscendTechRoboticsClubwouldliketotakethetimetothankeveryonewho
helpedwiththedevelopmentoftheROV,beittechnicalormoralsupport.The
companywouldfirstliketothankMATEandMATEPennsylvaniaformakingthe
competitionpossibleandfortheresourcesandsupportmadeavailabletoallofits
competitors.Thecompanywouldalsoliketothanktheclubsparentadvisorsfortheir
patienceandadvisingofthisclub.

ThecompanywouldliketothanktheWeissfamily,Tsaifamily,Laifamily,Salwifamily,
HelenLamandRichardWangfortheirfinancialdonationtotheclub.Additionally,the
companywouldliketoacknowledgeMrs.Weiss,Mr.TsaiandIainGallowayfromNXP
Semiconductorsforequipmentdonationsandtheparentsofallmembersoftheclub
fortheirsupportandassistancewithtransportation.

TheclubwouldliketothankProfessorJimNickelsoftheUrbanCoastInstituteat
MonmouthUniversityforlettingthecompanyusethepoolandwatertankfacilitiesfor
testing.TheclubwouldliketothankMr.UlricGordon-Lewisforhismachineshopand
3Dprinteraccessibility.TheclubwouldalsoliketothankMs.JillZandeforservingas
MATECompetitionCoordinator.

References
27
Rigzone-HowDoROVsWork?RIGZONE-HowDoROVsWork?N.p.,n.d.Web.May
2016.

Mrovlje,JernejandDamirVrancic.DistanceMeasuringBasedonStereoscopicPictures.
Proceedingsofthe9thInternationalPhDWorkshoponSystemsandControl.Jozef
StefanInstitute,3October2008.Web.4April2017.
<http://dsc.ijs.si/files/papers/s101%20mrovlje.pdf>.