P20250: Finger Lakes Explorer ROV
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Customer Handoff & Final Project Documentation

Table of Contents

Team Vision for Final Demo and Handoff

After switching to working remotely as a result of the COVID-19 outbreak, the team switched efforts to generate assembly documentation for the eventual completion of the ROV prototype, in addition to finalizing the MSD paper, poster, and Lightning Talk video.

As of April 23rd, 2020, all relevant documents have been made and sent to Dr. Kolodziej. The intent is for him to follow these assembly instructions to build the exterior of the ROV and wire the internal components. A software Handoff Package was also created, with the intention for the current software developer on the team, or another software engineering student, to finish that aspect of the project at a later date. The paper, poster, and video have also been completed, and can be viewed below.

Though this was not how our team hoped to finish our MSD, the global pandemic has created a dire situation that requires new precautions to be taken for everyone's safety. We made the best out of our situation, by recording our plans for our project and passing it on to someone who has the means of finishing it, after our team has graduated and moved on.

Project Schedule

The below schedule was used to reorganize the last few weeks of the semester, as a result of the change in scope from the COVID-19 outbreak.

Schedule

Schedule

Test Results Summary

Prior to spring break, only 5 of the 21 finalized test plans were able to be executed. The remaining plans required a fully assembled ROV, which was expected to take place shortly after returning to campus. This of course never happened, but the test plans below were provided to Dr. Kolodziej, for him to complete if desired, once the ROV was assembled.

Final Project Documentation

CAD/Schematics

Mechanical

Below are the final screenshots of the CAD model that was used to build the prototype. After final production of different parts using 3D printers, minor altercations had to be made to the design. These changes included making the top handle into 3 parts with one of the parts becoming aluminum to add weight, the internal orange board changed to allow for stronger structural integrity, and many more small changes to improve the overall design. All of these changes can be summed up in detail in the MECE assembly documents that were handed off to the customer.
Isometric view of the top

Isometric view of the top

Isometric view of the bottom

Isometric view of the bottom

Cross section view

Cross section view

Exploded view of external components

Exploded view of external components

Exploded view of internal components

Exploded view of internal components

Electrical

The below schematics and PCB models dictate the final design of the electrical PCBs used in this project. For notes on assembly and integration into the final assembly, read the Electrical Hand Off section below.
Lights Board Final Schematic

Lights Board Final Schematic

Lights Board Final Design

Lights Board Final Design

Main Board Final Schematic

Main Board Final Schematic

Main Board Final Design

Main Board Final Design

Final BOM

Throughout the course of this project, a Bill of Materials was kept that tracked all materials and purchases made in support of team goals. Despite the COVID-19 situation, all materials necessary for the completion of this project have already been purchased and logged. This summarily completes the Bill of Materials and offers some interesting facts about how our budget was spent. For example, nearly a hundred dollars was spent on shipping, to weigh against the cost of materials for the final prototype at fifteen hundred dollars.

Software Handoff Package

Due to the aforementioned outbreak of COVID-19, prototyping efforts were stopped and documentation efforts began earlier than expected. A software Hand Off document was generated outlining the current state of the software development and system configuration efforts, as well as outlining potential paths forward with continuing software development work. This document can be found here. The software architecture and the current state of the implementation of the overall system can be seen in the figure below.
Software Architecture

Software Architecture

The current state of the HUD user interface (without the live data and video feeds) can be seen in the figure below.

Main Page HUD User Interface

Main Page HUD User Interface

The most up to date controller user interface reference diagram can be seen in the figure below.

Controller Reference Image

Controller Reference Image

GitHub was used to manage the developed software and system configuration files generated in this project. This GitHub repository can be found here: https://github.com/sherrardTr4129/RIT-MSD-Finger-Lakes-ROV. A zip file containing the exported contents of the GitHub repository at the time of the customer hand off can be found here.

Electrical Hand Off Package and Assembly Documents

The documents as seen below contain all of the necessary information needed to build the interior compartment and electrical components of the ROV. The Interior Assembly Document contains a general overview of the interior assembly, as well as insight into the planned base station. The Bill of Materials and a list of necessary tools are included in this document as well. Access to basic circuit assembly tools is required, especially solder mounting equipment, which is required for a significant chunk of the circuit board assembly. For a step-by-step instructions manual, please see Interior Assembly Manual. In some cases, mechanical components must be completed prior to assembly. In those circumstances, the Manual notes refer the reader to the Exterior (ME) Assembly Document.

Mechanical Hand Off Package and Assembly Documents

The below document contains step-by-step instructions on how to finish the fabrication of external components, and assemble them (including the required tools and equipment). Access to a machine shop and basic tools is required, but other than than that this aspect of the project should be fairly straightforward to implement. Some components need to first be finished from the electrical side prior to assembly, but those instances are noted in this document, and refer the reader to the Internal (EE) Assembly documents.

User Manual

This gives a short description of some precautions to take while operating the ROV, including how to charge the battery.

Final Design Review

On 4/23/2020, our client Dr. Kolodziej was given an Assembly Handoff Package and a Software Handoff Package. Between these two, there were seven documents provided to enable him and another software engineering student to fully build and operate the ROV. These documents included: External (ME) Assembly Doc, Internal (EE) Assembly Doc, Internal (EE) Assembly Manual, Software Handoff Document, software repository, Finalized Test Plans, and a User Document. All documents are explained above.

The below photos outline the work done prior to the COVID pandemic, towards a full assembly.

Exploded view of the final exterior, showing the top handle, fins, and bottom motor brackets

Exploded view of the final exterior, showing the top handle, fins, and bottom motor brackets

Top Handle, made of 3D printed materials and aluminum

Top Handle, made of 3D printed materials and aluminum

Interior Shelf and Battery holder

Interior Shelf and Battery holder

Side view of the fins, showing how the horizontal motor brackets and motors will be secured to the fins

Side view of the fins, showing how the horizontal motor brackets and motors will be secured to the fins

Plans for Wrap-Up

Now that Dr. Kolodziej has all documentation needed to finish the project, and the paper, poster, and video are complete, all that remains of MSD II is to transfer this information onto EDGE. At this time, all documentation is where is needs to be, and this project is closed.

All materials related to the project are stored in the Robotics Lab, where Dr. Kolodziej can retrieve them to start work on assembling the ROV. The photo shows the final orientation of the project materials, in the Robotics Lab. The software integration requires a software engineering student's assistance, and as this is currently an unknown individual, the expected completion date of the construction of the ROV is pushed back to May 2021.

Remaining Project Material

Remaining Project Material


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