Introduction

• Robert Rubiano

• Marine Academy of Science and Technology, Class of 2011

• Enrolled in Systems Engineering II

• Area of technology with project: Structural engineering

• Name of project:  The Dune Research Vessel

Background - Problem

Beach dunes are the primary coastal defenses against storm waves. They are naturally made over many years and are far more effective that most manmade structures. In addition, dunes are home to many diverse biological ecosystems which draw the attention of many researchers and marine biologists. Dunes and the wildlife they support, however, are delicate structures. Frequent human interference has put a strain the on the wildlife and physical integrity of the dunes.

Sandy Hook, New Jersey, for example, is a popular area for research by the National Park Service, NOAA, and the students at the Marine Academy of Science and Technology. The research done by these organizations is necessary, but can still take a toll on the dune ecosystems. The endangered Piping Plover, for example, is a species of bird that only mates and nests during a specific time of the year. Human interference has been the cause of several destroyed nests in recent years. While some of these cases were blatant, the mere act of walking through dunes can allow one specimen to become attached to an unwary traveler and be transferred to another dune where it is not native; thus creating an invasive species. Ecosystems aside, constant walking on the dunes by researchers can ruin the integrity of the dune structure, which could be dangerous if large storm waves ever hit the coast.

Background - Solution

While it is completely impossible to avoid going into dunes for research purposes, there is a better method for collecting data. The field of robotics offers a promising alternative to researchers in the field of Marine Biology. Robotics can offer a less threatening and invasive method to research because of their size, appearance, and maneuverability. Small and lightweight models would not plow over and destroy plant life and nesting sights. Their small and almost unnoticeable appearance would not scare away specimens. And, their almost entirely metal and plastic body wouldn’t allow invasive species to latch on and spread to other sites. Finally, their green, battery operated and wireless controls wouldn’t leave harmful chemicals in the ecosystem it was studying. Therefore, robots can serve as a much less intrusive method to study dune ecosystems and wildlife.

Design Brief

Individual:

Design and create three different systems for the vehicle: a claw for cutting and holding onto a piece of dune grass, a shovel/scoop for collecting sediment data, and a camera that can deliver real time video/images to the operator.

Group:

Design and create a wireless, remote controlled vehicle to collect sediment, plant, and video data that can be used by a marine biologist or field researcher to prevent human interference in beach dunes.


Pictures:


These images depict the design brief.  Below is an area that has undergone human interference.  Because of this, a blowout zone has been created.

The image below is of the VEX robotics kit that the project was built from.

Specifications and Limitations

Specifications:

1. Must possess a video camera to send real time video data to the operator -- This feature would be given 5/5 because there was almost no trouble working it.  The picture was clear and almost never was affected by static. 

2. Must be able to travel easily through the dunes -- this would be given 2/5 because the robot could travel easily on flat sand or hard sand.  In reality, dunes are mostly composed of soft, steep sand which gave the robot trouble when traveling.

3. Must be able to be wirelessly operated by a field researcher or marine biologist -- 4/5 because it easy to work the controller, but does take some practice to perfect all the controls

4. Must be able to operate at lease 50 feet away -- given 5/5 because it operated longer than this distance

5. Must operate for at least 10 minutes -- given 5/5 because it operated longer than this time

6. Must be able to return to operator -- given 2/5 because sometimes, it got stuck in the sand the operators had to retrieve it; defeating the purpose of the project


Limitations:


1. Cannot exceed 1 cubic meter in size -- completed

2. Cannot weigh over 30 pounds -- completed

3. Must not be threatening in appearance -- in progress

4. Must be operated using standard rechargeable battery or car battery -- completed

5. Must be made out of VEX robot parts or parts found is systems lab -- completed

Testing Procedures and Results

There were many successes with the robot:

• The claw was not only able to cut the plant samples, but also hold onto the sample and bring it back to the operator.
• The scoop compacted the sediment sample which allowed it to maintain the integrity of the different layers.
• The camera are was able to swivel in any direction of a half sphere.

However...

• The propulsion system has to be improved as it dug holes in the ground, causing the robot to get stuck as seen below.

Testing Procedures and Results

• The location of the test was Sandy Hook's North Beach.  The reason why we chose this location was because it possesses many primary and secondary dune systems.  In addition, there is a large variety of plant life and sediment composition in this part of the hook.

Testing Procedures and Results

• Final Product:

Testing Procedures and Results

• Below are the renderings of the robot components:

Testing Procedures and Results

• The final solution of the components are depicted in the photographs below. (Photos courtesy of Robert Rubiano and Peter Arriaza).

Summary of Presentation

Some highlights:

• The final design of the components included: a robotic claw for cutting and holding plant samples, a moving camera arm that would allow the operator to see in any direction what the robot is doing from a long distance, and a scoop for taking sediment samples.

• The testing of the robot's components and propulsion were performed by Robert Rubiano and Peter Arriaza on Sandy Hook, New Jersey. The site of the testing was the observation deck located at North Beach.  Ms. McDonald supervised the testing on Thursday, March 24.
• The three components were successful, however the propulsion system could be improved.

Status Report 3/14

We have almost completed the project! All we have left to do is finish the claw! Then, we will test out our project in a real dune environment.  Finally, we add the camouflage to the robot.

Status Report 3/4

Unfortunately, I have not been able to complete the blade design because my partner PA has not been in class.  I hope to accomplish our plans next week.

Status Report 3/3

This Friday, we hope to have the claw blade accomplished.  In addition, we hope to make some minor adjustments to the robot to make sure that pieces don't become loose or get stuck.  Then, after the robot is completely done, we want to take it out into the dunes for a test run to make sure that it works.  Finally, my partner PA and I will construct the camouflage suit for the robot to help it blend into the environment.

Status Report 2/22

Welcome back Mr. Alfonse!!!  In the past week, my partner PA and I have made HUGE strides in our project.  We were able to successfully implement the camera arm into the robot.  Now, the robot can in any direction (up/down and left/right).  In addition, the claw has been successfully mounted.  Now, we will be able to grasp samples.  We still have to put a blade for cutting and and the scoop on the camera.  By Friday, I anticipate being 85% done with the project.  Hopefully, the scoop will be on and operational by that time, leaving only the blade part of the claw until next week.

Status Report 2/14

Today, we have accomplished much!  We have changed our robot's propulsion system from wheels to tank treads.  As noted in our earlier blog, we would perform tests to see which system worked better in the sandy environment.  We took our robot to the sand dune behind the systems lab and tested our robot's climbing ability.  Finally, we added rubber grips to the tank treads to help it maneuver through the soft sand.

2-Wire Motor

The CAD drawing depicts the two wire motor PA and I will be utilizing for the dune buggy project

Status Report 1/25

I finished my presentation but I am not happy because I don't think it was well received by DA and CM.  They said I lacked pictures so I added a even more pictures to the blog showing explicit detail of the construction process.

Status Report 1/23

Much progres has been made!  A huge portion of the robot has been completed and we have achieved movement throughou the building.  We have still het to determine whether tank treads or wheels will be the best choice for the the buggy.  Once the snow melts, PA and I plan on holding tests.

Starting to Create Camera Arm

Electronics

As seen in the picture, the yellow receiver, silver microcontroller, blue battery pack, and multicolored wires are installed.  We still have the scoop, claw, and camera to install.

End of Day 4

Making Back Bumper

Installing Wires

Floor

Wiring to Microcontroller

In the photo, we are wiring the back motors which control the robot to the microcontroller, the "brain" of the robot and will send signals to the wireless controller via transmitter.

Day 2 Construction

Day 2 Progress

After Day 2, PA and I had managed to add all four wheels and a drive system to the product.

Progress After Day 1

After the frame was created, we were able to add a wheel and motor onto the body of the robot.  The picture above marks the progress we made on day 1.

The construction has officially begun! The first step was creating a stable body that would prove both durable in the field and accomodating to the componants that would later be added.

After the bags were sorted (as seen above) PA and I carefully read the directions for the robot kit to ensure proper assembly of the product.

Beginning of Construction

Storage of Componants

PA and I found it very important to store all of the parts of the robot properly to avoid losing any pieces duringthe contruction phase.  Each part is stored in an individual platic bag.

How to document progress

PA and I take a copious pictures each class and make sure that we always document our VEX progress with digital images.

Storage of Equipment

My partner PA and I and very mindful of our project and make sure that the kit is always stored correctly at the end of each period.

Opening the Kit

Opening the highly anticipated VEX kit and reading the information manual was a vital first step before construction could commence.

Status Report 1/18

Today will be a day to get caught up on my blog.  I plan on adding pictures of the robot and getting an outline ready for the upcoming presentations on friday and monday.  In addition, I will be submitting mentor contacts.

Status Report 1/14

We have life!  After charging the batteries for both the controller and robot, we were able to maneuver our robot around the shop.  Next, we will begin construction of the claw, camera arm, and scoop.

Status Report 1/14

 We are into our second week of constructing and our progress is going very well!  We have wheel on our dune so far and we've yet to determine whether wheels or tank treads will be a better decision.  Once the snow melts, we can begin our testing.

Status Report 1/7

Today marks the third day of construction.  The VEX Robotic kit is a success so far and we hope to achieve movement by next week.