Date of Award

6-2024

Document Type

Thesis

Publisher

Santa Clara : Santa Clara University, 2024

Departments

Mechanical Engineering; Computer Science and Engineering; Electrical and Computer Engineering

First Advisor

Michael Neumann

Second Advisor

Christopher Kitts

Abstract

Global warming and climate change are prevalent issues in today's society. As a result, research in the ocean, earth's biggest ecosystem, is imperative in efforts to protect the environment. Santa Clara University's Robotic Systems Lab contributes to this field through work and development on remotely operated vehicles (ROVs). Nautilus was built to support geologists and other researchers, primarily in the Lake Tahoe and Monterey Bay area. Thus far the ROV s sole scientific instrument has been its onboard camera, though partner geologists desire the ability to collect physical samples using a robotic arm attachment at depths up to 100 meters. In direct collaboration with researchers within the Monterey Bay Aquarium Research Institute (MBARI), the team was able to create and accomplish a set of deliverables to improve the ROV. The team's goal was to make the overall experience of the pilot a more user-friendly experience. This was done by creating an entirely new graphical user interface (GUI), to give pilots a better experience when piloting the craft. It also involved an overhaul of last year's robotic arm, by mounting the arm on a modular tool sled as well as upgrading all the arm materials to make the system extremely durable. Unfortunately, while the creation of the tool sled was successful, more work is required to develop complete end-point control. Furthermore, designs to improve upon the design of the end-effector were unsuccessful and require more work as well. Finally, various control systems have been added that give depth, heading, altitude, and, in the future, end-point control. These features take much of the strain of operating an ROV off of the pilot, allowing them to focus on collecting data by locking certain parameters that they would otherwise have to be conscious of when piloting the ROV. The project has resulted in a more robust and easier to use ROV that can continue to support exploration and documentation of lakes and shallow stretches of the ocean far more easily.

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