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SeaPerch ROV Construction Manual

Remotely operated vehicle
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SeaPerch
Remotely Operated Vehicle (ROV)
Construction Manual
Standard Assembly Procedures
December 2010
The SeaPerch educational program was created by Harry
Bohm and Vickie Jensen and published in their 1997 book
"Build Your Own Underwater Robot and Other Wet
Projects." The initial curriculum was developed by the
Massachusetts Institute of Technology, and this version of
the SeaPerch Construction Manual was provided under the
Office of Naval Research National Naval Responsibility for
Naval Engineering (NNRNE) Outreach initiative.
Version 2010-02

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Summary of Contents for SeaPerch ROV

  • Page 1 Construction Manual Standard Assembly Procedures December 2010 The SeaPerch educational program was created by Harry Bohm and Vickie Jensen and published in their 1997 book "Build Your Own Underwater Robot and Other Wet Projects." The initial curriculum was developed by the...

  • Page 3: Table Of Contents

    SeaPerch ROV Construction Manual – Version 2010-02 Table of Contents Introduction ------------------------------------------------------------------------------------------ I-1 SeaPerch ROV Program Overview ------------------------------------------------------------ I-1 What is SeaPerch? ---------------------------------------------------------------------------- I-1 Program History --------------------------------------------------------------------------------- I-2 Original SeaPerch ROV Manual Development ----------------------------------------- I-2 Updated Information in this Manual ------------------------------------------------------------ I-2...
  • Page 4 SeaPerch ROV Construction Manual – Version 2010-02 Unit 1 – Assembly of Subsystem One – The Vehicle Frame ----- 1.0-1 Tools and Materials Needed ------------------------------------------------------------------ 1.0-2 Time Needed to Complete Unit 1 ------------------------------------------------------------- 1.0-2 Procedure 1.1 – Cut the Frame Parts ------------------------------------------------------- 1.1-1 Procedure 1.2 –...
  • Page 5 Post-Run Cleaning and Maintenance of the ROV System ------------------------------ U-3 Appendix A – Troubleshooting Your SeaPerch ROV Things to Try Before Re-Wiring the ROV or Changing ROV Parts ------------------- A-1 Solving Directional Control Problems ---------------------------------------------------- A-1 Solving ROV Operational Problems ------------------------------------------------------ A-2 Solving Thruster Operational Problems ------------------------------------------------- A-2 Appendix B –...

  • Page 7: Introduction

    A SeaPerch is an underwater robot known as a “remotely operated vehicle,” or “ROV.” Students learn best by doing, and during the SeaPerch project, they will completely assemble an inexpensive, yet functional ROV, test it, and then operate it underwater.

  • Page 8: Program History

    The SeaPerch Construction Manual was originally developed by MITSG, which modified the instructions for building a SeaPerch from those found in Build Your Own Underwater Robot and Other Wet Projects so that the ROV would be simpler and cheaper to build in the classroom. MITSG created a three-unit manual with detailed, step-by-step instructions and a complete list of needed components and tools.

  • Page 9: Expanded Testing And Operating Information

    “Using the SeaPerch ROV.” Added Appendix Containing Troubleshooting Hints When the initial ROV testing process identifies a problem, it is best for students to be allowed to try to solve it. However, when help is needed, and before taking drastic steps to change ROV parts or re-wire a circuit, ROV builders should refer to the Appendix, “Troubleshooting Your SeaPerch ROV,”...

  • Page 10: Added Supplement For Construction Options And Enhancements

    More options and enhancements will likely be developed from time to time as clever students and their teachers continue to invent and demonstrate new ways to build SeaPerch ROVs. By using the supplement approach and the new page numbering scheme, future new procedures can easily be added to the supplement document and then to individual classroom manuals when needed, without impacting the content of the standard build manual.

  • Page 11: The Seaperch Assembly Process

    They will measure, cut, and drill pipe and fittings and then assemble the parts with rapid results, as the work in Unit 1 provides a recognizable ROV after just a few class periods.

  • Page 12: Tools And Materials

    “12-volt DC motor” is used or when a similar component must be substituted due to availability or cost issues. SeaPerch ROVs are often built by a team of two or three students. For efficiency during the build process, each team should have its own set of basic tools, including a screwdriver, flush-type wire cutter, needle-nose pliers, wire stripper, and soldering iron.

  • Page 13: Safety Overview

    Protective Eyewear Students, teachers, and classroom helpers should wear protective eyewear at all times when building SeaPerch ROVs. Although some procedures do not usually involve significant eye hazards, the students often work close to others, who at any time may be performing more potentially hazardous steps.

  • Page 14: Materials Handling Safety

    SeaPerch ROV Construction Manual – Version 2010-02 Materials Handing Safety Builders of SeaPerch ROVs should be made aware of a few potential hazards related to some of the materials used. The following activities require careful handling of materials.  Soldering: Many common types of solder contain lead along with tin and sometimes other metals.

  • Page 15: Safety While Drilling

    Safety While Drilling Drilling is perhaps the most potentially hazardous activity involved in the SeaPerch project. Some important safety considerations are as follows.  Get Permission to Use Power Tools: Always get the teacher’s permission and adult supervision before using a drill or other power tool.

  • Page 16: Safety While Soldering

    Never just set it down on a tabletop, where it could burn anything it touches. Safety While Potting Motors for Thrusters SeaPerch ROV thrusters are assembled by potting small electric motors in wax. The following safety issues should be reviewed with everyone involved in the potting process.

  • Page 17: Safety With Electricity And Batteries

     Battery Short-Circuit Hazard: Although the battery can be used quite safely when it is connected properly to the ROV, it can be damaged, cause wires to melt, or even start a fire if its positive and negative terminals are connected directly together.
  • Page 19 Assembly of Subsystem One The Vehicle Frame December 2010 The SeaPerch educational program was created by Harry Bohm and Vickie Jensen and published in their 1997 book "Build Your Own Underwater Robot and Other Wet Projects." The initial curriculum was developed by the...

  • Page 21: Tools And Materials Needed

    ROV. When materials must be cut from standard lengths of pipe, rolls of payload netting, etc., plan on up to an additional hour to complete the ROV frame. Have some extra ½” PVC pipe on hand, as pipe-cutting errors sometimes occur.

  • Page 23: Procedure 1.1 - Cut The Frame Parts

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 1.1 – Cut the Frame Parts Tools: Ruler Marker (or Pencil) PVC Pipe Cutter (or Saw) Materials: 5’ (1.5 m) ½” PVC Pipe Figure 1.1-1: PVC Pipe Cutter and Cut PVC Pipe...

  • Page 25: Procedure 1.2 - Drill The Drain Holes

    NOTE: Drain holes are needed in the PVC elbows in order to let air escape and allow water to fill the frame when you put your SeaPerch ROV into the water, and also to allow water to drain when you take the SeaPerch out. Preventing air from being trapped within the frame will enable the vehicle to have consistent, repeatable buoyancy.

  • Page 27: Procedure 1.3 - Assemble The Vehicle Frame

    ROV is placed in the water. Orient those at the bottom such that their holes point more downward, to let the water flood in and out easily.

  • Page 29: Procedure 1.4 - Install The Floats And Tighten The Frame

    Figure 1.4-1: H-column Assembly for Floats NOTE: Although use of PVC adhesive is not desired when assembling the frame, the pipe sections must still be fit together tightly in order for the ROV to maintain its shape. Construction Steps: 1. Cut the 15” (38 cm) Plastruct H-column into two 7½” (19 cm) pieces.

  • Page 31: Procedure 1.5 - Attach The Thruster Mounts

    (outside) of the frame… we’ll adjust them later. This is a good time to think about how the angle of the thrusters affects the performance of the ROV. What angles will get you the best forward and backward thrust? What angles will get you the best turning ability?

  • Page 33: Procedure 1.6 - Attach The Payload Net

    Also confirm that all vehicle pipe sections and fittings are as tight as possible and that the frame is squared-up before painting, as the parts may be difficult to move after the paint has dried. Painting the ROV should be avoided if parts such as PVC tees and elbows will later be “recycled”...
  • Page 35 Assembly of Subsystem Two The Thrusters December 2010 The SeaPerch educational program was created by Harry Bohm and Vickie Jensen and published in their 1997 book "Build Your Own Underwater Robot and Other Wet Projects." The initial curriculum was developed by the...

  • Page 37: Tools And Materials Needed

    SeaPerch ROV Construction Manual – Version 2010-02 Assembly of Subsystem Two Unit The Thrusters Tools and Materials Needed Tools Materials ~40’ (12 m) Tether Cable (CAT 3, 5, 5e, or 6) Eye Protection (Always Worn) Plastic Vials or Film Canisters, with Caps...

  • Page 39: Procedure 2.1 - Build A Motor Potting Holder (If Not Provided)

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.1 – Build a Motor Potting Holder (If Not Provided) Tools: Drill (or Drill Press) ¼” Drill Bit 1-3/8” Spade Drill Bit* (Or a “Forstner” Bit for a Flat- Bottomed Hole) Permanent Ink Marker Ruler *1¼”...

  • Page 41: Procedure 2.2 - Test The Motors And Mark Their Terminals' Polarity

    - DO NOT CONNECT WIRE OR METAL FROM ONE BATTERY TERMINAL TO THE OTHER! NOTE: Small 12-volt DC motors of various types are available for SeaPerch kits, such as those shown in Figure 2.2-1. Some come with wire leads already attached. In that case, the wires must be removed prior to testing the motors and assembling the thrusters.
  • Page 42 This is the correct polarity for the SeaPerch ROV thrusters, so mark the motor terminal that is connected to the black wire to show that it is the “negative” terminal by using a black marker pen to color one side of that terminal black.

  • Page 43: Procedure 2.3 - Seal The Motors So That Wax Cannot Get Inside

    The care with which this is done will help determine whether your thrusters will work and how long they will last. Some motors used for SeaPerch ROVs may be larger than others. To ensure good coverage of the tape and to minimize its thickness, so that the motors will still fit easily...
  • Page 44 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.3 – Continued 3. Cover both ends of the motor first with several short pieces of tape, and then cut around the motor ends using scissors to remove excess tape (cut at a tilt toward the motor to remove all tape that extends past the edge of the shell) using the process below.
  • Page 45 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.3 – Continued 4. Wrap a longer piece of tape around the sides of the motor. Start at one end with the edge of the tape extending about 1/16” (~2 mm) past the end of the motor, so that it can be folded down to form a good seal.

  • Page 47: Procedure 2.4 - Drill Holes In The Thruster Housings

    Electrical Tape Figure 2.4-1: Drilled Thruster Housing NOTE: The standard motors typically used with SeaPerch ROVs have a 0.091” shaft diameter, which matches well with the 3/32” holes to be drilled in the thruster housings (plastic vials or film canisters) to form a good, waterproof seal. However, if you are using a different motor, you should check it to see if the shaft diameter is still 0.091”.
  • Page 48 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.4 – Continued 3. Carefully remove any plastic burrs from the hole in the bottom of the thruster housing, which may be left after the drilling process. When using the standard plastic vials, made of a rather soft material, some burrs usually remain in or around the holes after drilling.

  • Page 49: Tips On Soldering - Safety And Techniques

    SeaPerch ROV Construction Manual – Version 2010-02 Tips on Soldering – Safety and Techniques Soldering Safety Reminders: Eye Protection: Always wear safety glasses or goggles when soldering or even when near someone who is soldering (heated flux within the melting solder can "pop" and fly a considerable distance, in any direction).

  • Page 51: Procedure 2.5 - Connect The Tether Cable Wires To The Motors

    NOTE: Each motor must be connected to one of the color-coded pairs of wires in the tether cable, as shown in Figure 2.5-1. The CAT 3/5/6 cable types have four wire pairs inside. Three of them will be used for the standard SeaPerch ROV. Construction Steps: 1.
  • Page 52 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.5 – Continued 3. If the wires in the tether cable are not already twisted into pairs, refer to Table 2.5-1 to pair them together by colors (“orange” with “white & orange,” etc.).

  • Page 53: Tips On Wax Melting - Safety And Techniques

    Don’t Get Burned: Bowl ring wax usually melts at a rather low 150 degrees Fahrenheit (F). The wax-melting approach used for SeaPerch ROVs is either to melt the wax in an electric heating pot or in a metal container placed in a water bath, usually employing an electric skillet to heat the water (and wax). It is important NOT to let the wax get too hot.

  • Page 55: Procedure 2.6 - Pot (Waterproof) The Motors With Wax

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.6 – Pot (Waterproof) the Motors with Wax Tools: Metal Cup(s) and Electric Skillet, or Heated Pot Potting Holder Scissors Apron / Gloves (Optional) Materials: 3 Motors Sealed with Tape 3 Plastic Vials (or Film...
  • Page 56 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.6 – Continued 2. Your teacher will probably have melted wax ready for your use, using a melting pot like those shown in Figure 2.6-3. If not, see the wax melting tips on page 2.6-1.
  • Page 57 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.6 – Continued Figure 2.6-5: Initial Figure 2.6-6: Motor Figure 2.6-7: Wax ¼” of Melted Wax in Filled to ½” from the Sealed in the Bottom of a Thruster Housing a Thruster Housing Top of the Housing 9.
  • Page 58 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.6 – Continued 15. Carefully fill one thruster housing to the very top with wax, creating a positive meniscus as shown in Figures 2.6-9 and 2.6-10. Figure 2.6-9: Wax Meniscus Should Form at the Top Figure 2.6-10: Filled...
  • Page 59 19. Optional: If using the standard printed-circuit-board-style control box for this ROV (rather than the hand-wired option), and if a working control box is available for thruster testing, you may perform Procedure 3.2 now to install the RJ45 connector plug on the tether cable, to enable easier testing of the thrusters.

  • Page 61: Procedure 2.7 - Mount The Propellers Onto The Motors' Shafts

    If desired, you may perform Procedure 2.8 (to mount the thrusters onto the ROV frame) before Procedure 2.7, to reduce the chance of the propellers being jostled about while the adhesive is curing.
  • Page 62 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.7 – Continued 6. Gather the epoxy, mixing stick, and a scrap sheet of paper or cardboard on which to mix the epoxy. 7. Mix the epoxy according to the instructions on the package. If you are using the packet specified in the parts list, fold the packet so that the two halves are together.
  • Page 63 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.7 – Continued 10. Put a drop of epoxy on the threads at the end of the coupler, and screw the remaining nut on finger-tight, making sure it is held by epoxy. See Figure 2.7-7.

  • Page 65: Procedure 2.8 - Mount The Thrusters Onto The Vehicle Frame

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 2.8 – Mount the Thrusters Onto the Vehicle Frame Tools: #2 Phillips Screwdriver Pliers Materials: Assembled Thrusters Assembled Frame Electrical Tape (Optional) Figure 2.8-1: Thruster Mounted on ROV Frame NOTES: Epoxy Curing Time: When epoxy adhesive has been used to attach the propellers to the thruster motors (the standard method), this procedure should only be performed after the epoxy has hardened to handling strength (60 minutes for the specified epoxy).
  • Page 66 This is a good time to think about thrust, vectors, and propulsion. How do the angles of the thrusters affect the performance of the ROV? What angles will get you the best forward and backward thrust? What angles will get you the best turning ability? What angles will keep the propellers out of harm’s way as the...

  • Page 67: Procedure 2.9 - Waterproof And Mount The Tether Cable

    5 6” or 8" Tie Wraps Figure 2.9-1: Tether Cable Tied in a Strain Relief Loop and Pointing Straight Back from the Center of the ROV Construction Steps: 1. Locate the point near the thruster end of the tether cable where the four thruster wire pairs emerge from the cable sheath, and bring it out a bit away from the vehicle frame so you can waterproof that opening using butyl rubber tape.
  • Page 68 This is important to keep the tether cable pointing straight back from the ROV so that its drag in the water does not tend to pull the ROV more to one side than the other, making it more difficult to turn the ROV in one direction compared to the other.
  • Page 69 Assembly of Subsystem Three The Control Box 2010 December The SeaPerch educational program was created by Harry Bohm and Vickie Jensen and published in their 1997 book "Build Your Own Underwater Robot and Other Wet Projects." The initial curriculum was developed by the...

  • Page 71: Tools And Materials Needed

    Assembly of Subsystem Three Unit The Control Box Tools and Materials Needed Tools Materials ROV Frame with Thrusters and Tether Cable Installed Eye Protection (Always Worn) Pre-Drilled Control Box with Lid & 4 Screws (Black) Ruler Printed Circuit Board (PCB) Scissors PCB Mounting Screws (Silver) 6’...

  • Page 72: Seaperch Rov Electrical Circuit Diagram

    SeaPerch ROV Construction Manual – Version 2010-02 SeaPerch ROV Electrical Circuit Diagram In this unit, you will assemble the control box for your SeaPerch ROV by mounting components onto a printed circuit board and connecting the tether cable and power cord wires. Below is a circuit diagram (or “schematic”) which shows all of the electrical connections that will be made.

  • Page 73: Procedure 3.1 - Gather The Parts For The Control Box Assembly

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.1 – Gather the Parts for the Control Box Assembly Materials: Assembled ROV Frame with Thrusters and CAT-5 Tether Cable Attached 1 Control Box, with Lid and 4 Screws 1 PCB, with 4 Mounting Screws...
  • Page 74 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.1 – Continued 2. Locate the fuse. If its leads are longer than about ¼ inch (6 mm), cut both leads to that length, as shown in Figure 3.1-3. 3. Locate the two toggle switches. If they...

  • Page 75: Procedure 3.2 - Install The Tether Cable Connector Plug

    RJ45 plug IS IMPORTANT to ensure that each switch controls the correct ROV thruster. SeaPerch ROVs use the industry standard "T568B" wire color sequence, the most common color sequence used for Ethernet networks.
  • Page 76 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.2 – Continued 3. Separate and untwist the four wire pairs and then carefully straighten out the kinks in all eight wires so that they are smooth enough to be inserted through the RJ45 connector, as shown in Figure 3.2-3.
  • Page 77 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.2 – Continued 7. With the key tab (or "hook") on the RJ45 connector plug pointed downward, carefully insert the flat bundle of wires into the back end of the plug, and pass them under the pins in the front of the plug, as shown in Figure 3.2-7.

  • Page 79: Procedure 3.3 - Assemble The Power Cord

    Alligator Clips (Red & Black Covers) Figure 3.3-1: Completed Power Cord NOTE: In this step you will assemble the power cord for your SeaPerch ROV, as shown in Figure 3.3-1. You may be provided with one of several types of 2-conductor wire, such as speaker wire, lamp cord, or a pre-made cord that has alligator clips already mounted on one end (and possibly some other style of connector(s) on the other end).
  • Page 80 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.3 – Continued 3. On each end of the power cord wire, carefully separate the two conductors for about 3 inches (7.6 cm). This is best done by snipping the thin web of plastic between the wires with a small pair of scissors or wire cutting pliers.

  • Page 81: Procedure 3.4 - Install The Printed Circuit Board Components

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.4 – Install the Printed Circuit Board Components Tools: Soldering Iron and Solder Needle-Nose Pliers Wire-Cutting Pliers #2 Phillips Screwdriver Materials: Control Box and Lid with 4 Screws (Black) PCB with 4 Screws (Silver) Fuse Socket 6.3 Amp Fuse...
  • Page 82 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.4 – Continued Figure 3.4-2: Components Required for the Control Box PCB Assembly 2. Locate the fuse socket (the smallest control box component). It goes in the middle of the board, at the location labeled "F1."...
  • Page 83 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.4 – Continued 3. Place the pins on the two pushbutton switches through the pads in the PCB at the locations labeled "SW3" and "SW5," as shown in Figure 3.4-4, after making sure that their pins are all straight (perpendicular to the switch body).
  • Page 84 SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.4 – Continued 6. Check to ensure that the small pins on the bottom of the RJ45 connector jack are not bent, and then place them through the holes in the PCB at location J1, as shown in Figure 3.4-8.

  • Page 85: Procedure 3.5 - Connect The Power Cord

    SeaPerch ROV Construction Manual – Version 2010-02 Procedure 3.5 – Connect the Power Cord Tools: Soldering Iron and Solder Wire-Cutting Pliers Materials: PCB with Components Mounted Assembled Power Cord Control Box Lid Figure 3.5-1: Power Cord Passed Through the Box Lid and Connected to the PCB Construction Steps: 1.

  • Page 87: Procedure 3.6 - Finish The Control Box

    3.6-1. They may require firm pressure to snap them securely into place. 5. Optional: You may conduct the open-switch electrical tests described in the following section, "Testing and Ballasting the ROV," now if desired; however, if Step 2 was performed well, the test can wait until after completing assembly.

  • Page 89: Testing And Ballasting The Rov

    SeaPerch ROV Construction Manual – Version 2010-02 Testing and Ballasting the ROV Time Needed to Complete Testing and Ballasting of the ROV Combined Testing and Ballasting Time: Initial electrical testing usually requires much less than 1 hour, unless the vehicle does not function properly, in which case several hours may be required to resolve the problem(s).

  • Page 90: Ballasting And Trimming The Rov

    Solve the problem before connecting battery power to the ROV. Testing for Proper Thruster Operation: After passing the tests above, it is finally time to connect the ROV to its battery. Connect the two power leads (the alligator clips, or the quick-disconnect terminals on some versions) to the appropriate positive and negative terminals of the battery.
  • Page 91 For example, when the ROV sent to the bottom at the deep portion of a swimming pool (often 12 feet or more in depth), it may no longer be able to return to the surface easily. For this reason, it is best to have the ROV ballasted to be more positively buoyant while at the surface when using foam style floats.

  • Page 92: Initial In-Water Testing In The Classroom, Lab, Or Pool

    SeaPerch ROV Construction Manual – Version 2010-02 Ballast items can be attached to the ROV in various ways, such as using tape, tie wraps, or fasteners such as screws or clamps. The weights can be attached to the frame or to the payload net; however, it is best to keep the front center area of the net clear to enable the ROV to pick up items without interference.
  • Page 93 Prior to operational use, all ROVs should be checked for proper tether cable attachment at the rear of the vehicle. If the ROV would not "fly" straight in the test above, an improperly attached tether cable could be the reason. Tie wraps crossed in an “X”...

  • Page 95: Using The Seaperch Rov

    ROVs and their maneuvers much easier to see. Batteries are heavy, and if one is pulled off a tabletop by a tug on the ROV’s power cord, it can cause an injury (such as if it is dropped on a foot), as well as damage to the battery.

  • Page 96: Piloting The Seaperch Rov

    Should the tether cable be tending far to the right or left, due to the position of the ROV relative to the operators, it may seem to move better in one direction than the other. It should turn and move forward...

  • Page 97: Post-Run Cleaning And Maintenance Of The Rov System

    ROV. In addition to rinsing the vehicle and cleaning off any debris, it is helpful to submerge it in a tub of fresh water and run the thrusters for a few moments, to better clear corrosive materials from the motor shafts.

  • Page 99: Appendix A - Troubleshooting Your Seaperch Rov

     The ROV Always Seems to Turn More Easily to the Left or the Right. Check to see that the tether cable is mounted on the ROV in the center of the pipe on the rear of the vehicle, and that the crossed tie wraps are in place to keep the vehicle-end of the tether cable pointing straight back from the ROV.

  • Page 100: Solving Rov Operational Problems

    PCB CONTROL BOX VERSION Solving ROV Operational Problems:  The ROV is Very Slow in Diving. First check to see if any air is trapped within the pipes. Then check the ballast to confirm that none of it has fallen off. Re- ballast for neutral buoyancy if necessary.
  • Page 101 Later cleaning and lubrication of the thrusters might bring them back to service, but the best way to avoid this problem is to always follow the cleaning recommendations in the "Using the SeaPerch ROV" section of the manual after every in-water ROV use.

  • Page 102: Appendix B - Optional Construction Hints

    Guidance to Provide to Students as Needed to Simplify the Build Pipe Cutting Template: Some SeaPerch ROV builders may need a little help in planning how to cut their frame's pipe pieces to make efficient use of the raw pipe stock provided.

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