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.