2024 ASEE Annual Conference & Exposition

Over the years, human has conquered more outer spaces than our oceans. Underwater robots have been present for decades and have been used for multiple purposes. Few applications include researching marine life very deep into the sea, disaster prevention, search and rescue underwater, etc. An efficient underwater vehicle can perform the tasks that humans can’t do due to the pressure of the ocean. This BYOE paper chronicles a decisive journey in the realm of robotics - an Underwater Remotely Operated Vehicle (ROV) equipped with an onboard camera and an innovative pneumatic claw system. As we delve into these experiences, we share the skills honed, the profound discoveries made, and the challenges overcome. This work is continuation of a previously published paper in the 2020 ASEE Annual Symposium [1]; but with vision, pneumatic claw and added VR simulation for the users. Our implemented prototype can withstand the water pressure of about 5 feet deep, can detect a visual aspect at the bed of the water using the camera, and grasp it using the pneumatic claw. Some skills honed through this prototyping includes but not limited to – mechanical engineering, electronics and control, software development, engineering design, hydraulics and pneumatics, and problem solving. The VR application was created to provide a safe and immersive learning environment for users to practice controlling the robot and completing underwater tasks. The VR application is targeted at students, researchers, and professionals who need to learn how to use underwater robots. The application can be used in a variety of settings, including classrooms, training laboratories, and research facilities. Some features included are interactive controls, guided tutorials, and progress tracking. The software and tools needed for this VR part are Unity game engine, environmental and character assets, AI voice generators, Oculus Quest 1 Headset, Blender, and Polycam 3D Scanner. The materials used for robot prototype involved:
- Small 12V Air Compressor - Pneumatic Cylinder - Air Fittings (22 pieces)
- Air Tubing (10 meters) - Male Fittings (10 Pack) - Pneumatic Hand Valve
- Polyethylene Foam (16x12) - 1/2-inch PVC Pipe - Assorted Cable Ties
- Small 12V Battery - GoFish Wireless Underwater Camera
- Wire Connectors - Expandable Wire Mesh Sleeve
- 100-Piece Terminal Kit - Lead Acid 12V 5Ah Battery
- 1/4-inch Coupler Plug - Commercial Electric - Assorted Cable Ties (650-Pack)
- Commercial Electric - 3/4 in. x 30 ft. Commercial Carded Electrical Tape, Black
- Everbilt - 1/4 in. I.D. x 3/8 in. O.D. x 20 ft. Clear Vinyl Tubing
- Husky - 1/4 in. I/M Coupler Plug with Increased Air Flow (6-Piece)

[1]: Iftekhar Ibne Basith, and Emanuel Sanchez, “SeaKatz – an Underwater Robot”, in the ASEE Annual Conference and Exposition at Montreal, QC, Canada, June 22-26, 2020.