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Final Design

The submersible robot project had several key objectives that had to be met in order to be considered a success.  The submersible robot was required to be able to traverse through the Wakulla cave systems, record data, and then be able to resurface so that the data could be retrieved.  The group had several initial design considerations to look at.   The initial design considerations were used as a guideline on how to approach the designing of a submersible robot.  These considerations included whether to have the submersible robot be self propelled or to let the water current be the means of propulsion.  The group had to consider whether to tether the robot or let it go unassisted.  The team had to consider where the robot was going to be retrieved, would it be at the entrance or at some other opening downstream?  One final consideration the team had to consider was would constant communications be kept with the robot or would all data be retrieved when the submersible robot was recovered?    These initial considerations ultimately began the design process which would lead the team to its’ final design.  In looking at each of these initial considerations the team analyzed how each would affect the overall design and whether they were practical approaches for this project.  One of the major factors in any decision the team made for this project was how one decision affected another area of the robot. 

In considering a means of propulsion, the team decided that self propulsion was not the best approach to take, because it had a great reliance on electronic components such as motors and propellers, and the need for heavy components such as batteries.  In making this decision though, the team ultimately had to alter the robot’s buoyancy system to counter the loss of control that the team would have over the robot.  The fact that one decision made such a significant impact on another area of the robot would prove to be one of the most difficult problems throughout the project.  The next decision the team made was to allow the robot to remain unassisted while it traveled through the cave system.  This decision was made because of the length of the cave systems reaches several miles in some areas and also the possibility of the robot getting caught onto an object was too great.  Then the team considered where the robot was going to be retrieved.  The earlier decision to use water current as the means for propulsion made the decision for the team.  The robot had to be retrieved at the end of the cave system once the water current had carried it out.  The final decision the team made before the design work began, was to use hardware capable of recording data and storing it for later retrieval.  This decision was made because of the operating conditions of the robot.  The robot was designed to operate at 300ft below the surface under dense rock so storing data seemed a practical decision.  After making these decisions the team had some parameters to follow, and was able to begin the design process. 

• Buoyancy
• Resurfacing
• Housing
• Electronics