A. Propulsion
1. Outboard electric motor.
i. More prone to damage.
ii. Least bulky.
2. Enclosed electric motor.
i. Less likely to be damaged.
ii. Easiest to mount.
iii. Requires large space.
3. Water jet.
i. Requires extensive tubing inside ROV.
ii. Produces swift motion.
iii. Hard to fix due to enclosed nature.
4. Paddle system.
i. Can move heavy items easier due to larger surface area of paddle.
ii. Slower speed due to restricted energy use.
B. Robotic Arm
1. Hydraulically powered.
i. Requires lower pressure inside tubing.
ii. Possible to leak contaminants.
2. Pneumatically powered.
i. Requires higher pressure.
ii. Prone to leaks.
3. Servo powered.
i. Use of additional energy.
ii. Due to power restrictions will have less torque.
4. Electric motor powered.
i. Possible to have large amounts of torque due to gearing.
ii. Large energy consumption.
C. Frame material
1. PVC tubing.
i. Easy to acquire.
ii. Positive buoyancy.
2. Plastic sheeting.
i. Can make more hydrodynamic.
ii. Prone to breaking.
3. Metal Tubing.
i. Negative buoyancy.
ii. Costly.
iii. Strong.
4. Metal sheeting.
i. Easy to acquire.
ii. Prone to rust.
iii. Negative buoyancy.
5. Composite plastic tubing.
i. Costly.
ii. Strong
iii. Positive buoyancy.
6. Fiberglass.
i. Longer construction time.
ii. Strong.
iii. Can make more hydrodynamic.
7. Wood.
i. Easy to acquire.
ii. Prone to water damage.
iii. Various styles.
D. Buoyancy control
1. Compressed air buoyancy tank.
i. Limited amount of depth changes.
ii. Reliable.
iii. Accurate.
2. Inflatable balloon.
i. Requires input of air from control station.
ii. Greater chance of leaks.
3. None, use of propulsion means to change depth.
i. Least accurate.
ii. Requires least amount of additional components.
E. Steering control
1. Two independently controlled motors.
i. Must be placed far apart to be effective
ii. Hard to make small adjustments.
iii. Cannot steer while drifting.
iv. Requires least amount of additional components.
2. Rudder behind motor.
i. Additional servos required.
ii. Very accurate.
iii. Does not require propulsion force to steer.
3. Moveable motor housing
i. Faster movement through water.
ii. Cannot steer while drifting.
F. Speed control
1. Multiple motors.
i. Requires more wiring and motors
ii. Greater chance of component failure.
2. Variable current switch.
i. Bulky.
ii. Large degrees of adjustment.
3. Electronic Speed control.
i. Most expensive.
ii. Finest control over movements.
G. Control Box
1. Minimalist control box.
i. Use of smallest size control box and as few wires as possible.
ii. Easy to store and move.
2. All in one control box
i. Larger design with all needed controls in one place.
ii. More controls may be added due to less size restrictions.
3. Computer controlled
i. Requires computer programming
ii. Most accurate
H. Waterproofing
1. Electronic waterproofing liquid.
i. Easy to use.
ii. Incorrect use results in loss of component.
iii. May need to be explained at safety check.
2. Tape.
i. Easy to use.
ii. Hard to make repairs.
3. Fiberglass.
i. Harder to use.
ii. Very effective
iii. Permanent and repairs may not be made.
I. Underwater Cameras.
1. Must be waterproof.
i. Enclosed in shell.
ii. Clear image necessary.
2. Mounting location
i. Birds eye view from rear.
ii. Close-up by Robotic Arm.
iii. Top Front unobstructed view.
1. Outboard electric motor.
i. More prone to damage.
ii. Least bulky.
2. Enclosed electric motor.
i. Less likely to be damaged.
ii. Easiest to mount.
iii. Requires large space.
3. Water jet.
i. Requires extensive tubing inside ROV.
ii. Produces swift motion.
iii. Hard to fix due to enclosed nature.
4. Paddle system.
i. Can move heavy items easier due to larger surface area of paddle.
ii. Slower speed due to restricted energy use.
B. Robotic Arm
1. Hydraulically powered.
i. Requires lower pressure inside tubing.
ii. Possible to leak contaminants.
2. Pneumatically powered.
i. Requires higher pressure.
ii. Prone to leaks.
3. Servo powered.
i. Use of additional energy.
ii. Due to power restrictions will have less torque.
4. Electric motor powered.
i. Possible to have large amounts of torque due to gearing.
ii. Large energy consumption.
C. Frame material
1. PVC tubing.
i. Easy to acquire.
ii. Positive buoyancy.
2. Plastic sheeting.
i. Can make more hydrodynamic.
ii. Prone to breaking.
3. Metal Tubing.
i. Negative buoyancy.
ii. Costly.
iii. Strong.
4. Metal sheeting.
i. Easy to acquire.
ii. Prone to rust.
iii. Negative buoyancy.
5. Composite plastic tubing.
i. Costly.
ii. Strong
iii. Positive buoyancy.
6. Fiberglass.
i. Longer construction time.
ii. Strong.
iii. Can make more hydrodynamic.
7. Wood.
i. Easy to acquire.
ii. Prone to water damage.
iii. Various styles.
D. Buoyancy control
1. Compressed air buoyancy tank.
i. Limited amount of depth changes.
ii. Reliable.
iii. Accurate.
2. Inflatable balloon.
i. Requires input of air from control station.
ii. Greater chance of leaks.
3. None, use of propulsion means to change depth.
i. Least accurate.
ii. Requires least amount of additional components.
E. Steering control
1. Two independently controlled motors.
i. Must be placed far apart to be effective
ii. Hard to make small adjustments.
iii. Cannot steer while drifting.
iv. Requires least amount of additional components.
2. Rudder behind motor.
i. Additional servos required.
ii. Very accurate.
iii. Does not require propulsion force to steer.
3. Moveable motor housing
i. Faster movement through water.
ii. Cannot steer while drifting.
F. Speed control
1. Multiple motors.
i. Requires more wiring and motors
ii. Greater chance of component failure.
2. Variable current switch.
i. Bulky.
ii. Large degrees of adjustment.
3. Electronic Speed control.
i. Most expensive.
ii. Finest control over movements.
G. Control Box
1. Minimalist control box.
i. Use of smallest size control box and as few wires as possible.
ii. Easy to store and move.
2. All in one control box
i. Larger design with all needed controls in one place.
ii. More controls may be added due to less size restrictions.
3. Computer controlled
i. Requires computer programming
ii. Most accurate
H. Waterproofing
1. Electronic waterproofing liquid.
i. Easy to use.
ii. Incorrect use results in loss of component.
iii. May need to be explained at safety check.
2. Tape.
i. Easy to use.
ii. Hard to make repairs.
3. Fiberglass.
i. Harder to use.
ii. Very effective
iii. Permanent and repairs may not be made.
I. Underwater Cameras.
1. Must be waterproof.
i. Enclosed in shell.
ii. Clear image necessary.
2. Mounting location
i. Birds eye view from rear.
ii. Close-up by Robotic Arm.
iii. Top Front unobstructed view.
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