The document describes the design of an ROV called Jenny to collect data beneath the Ross Ice Shelf in Antarctica. Jenny is a scale model that meets all requirements, including dimensions of less than 58cm x 40cm x 30cm and a mass of less than 15kg. It has a PVC frame, thrusters, buoyancy components, and a camera. Testing showed it has an average speed of 0.595m/s and is neutrally buoyant and stable. Calculations are provided for a full-scale version with dimensions of 1.23m x 0.78m x 0.73m and a top speed of 0.483m/s. Recommendations include additions like a camera housing
2. Objectives
● Design a Remotely Operated
Vehicle to collect data beneath
the Ross Ice Shelf in Antarctica
● Build a scale model of this ROV
● Provide calculations for a full
scale model of the ROV
● Turn Valve 180° http://www.destination360.com/antarctica/ross-ice-shelf
3. Requirements
The ROV must:
● not exceed a total system mass of 15.0 kg
● not exceed the dimensions : 58cm x 40cm x 30cm
● be able to move in 6 directions of motion
● Incorporate required components and meet design
requirements
5. Jenny
● Meets size requirements
● Easily maneuverable in any direction
● Average speed of .595 m/s
● Neutrally buoyant
● Capable of being scaled up to full scale
6. Description
● Dimensions: 49 cm x 31 cm x 29 cm
● PVC frame
● Five buoys and two Gatorade bottles for
buoyancy
● Zip ties secure components
● Camera on front, right side
12. Thruster Placement
● Located in rear corners
● Allows pitch to be easily
changed
● Tight turn radius
● Each controlled
individually by switches
or buttons
14. Advantages
● Design allows for easy addition/removal of
components
● Four rear facing thrusters maximize speed
● Inner frame securely protects payload
● Wide surface area to turn the valve
15. Mass Budget
Component Mass (grams)
Payload <10,000.0
Frame 1464.5
Thrusters 944.7
Buoyancy 289.6
Total <13,291.5
16. Calculations
Our ROV is neutrally buoyant so
the force of buoyancy is equal to
the weight of the ROV.
∑F = FB
- FG
0 = FB
- FG
FB
= FG
FB
= 130.38 N
FG
= m×g
FG
= (13291.5g/1000g)(9.81m/s2
)
FG
= 130.38 N
18. Calculations
Top Speed
Forward Vtop speed
=
√(T/(.5AROV
CD
⍴)
= 0.663 m/s
Reverse Vtop speed
=
0.377 m/s
Max Power
Forward Prequired
=VT/ηoverall
= 66.88 W
Reverse Prequired
= 12.35 W
26. Conclusion
● Model meets all requirement
● Has a calculated speed of 0.663 m/s and a
recorded speed of 0.595 m/s
● Highly maneuverable
● Compact design
