Testing Procedures

To test the robotic arm three separate tests must be performed. The first step involves testing the range of motion in a dry environment. This involves connecting the robotic arm to the Rov and setting up the control station. All ranges of motion will be tested to their extremes multiple times. Upon completion of this test a similar one will be performed in the water. The Rov will be submerged in the test tank and all components will be tested. The third test involves construction of items that resemble those of the competition. It is impossible to predict what exactly these items will be, but it can be assumed that the arm must be capable of moving a small and delicate item, as well as a larger heavy item. Through careful examination of the rules released in January the items will be designed and constructed. After the construction of these items they will be gently placed on the bottom of the test tank as not to cause damage. The entire Rov will then be placed in the water and a slow run will be performed to become accustomed to all controls of the Rov. Once all tasks are completed they will be re-set in the bottom of the pool. Now the Rov will be tested operating at its maximum speed. This will be timed and the data will be used to predict the Rov’s performance in the competition. The pool used in the competition can be seen in Figure 1 below.

Figure 1
MATES competition test tank (MATES).

1. Assemble Rov arm onto Rov.
2. Connect all control wires through tether to the control box.
3. Using the control box operate the robotic arm through all ranges of motion out of water.
4. Submerge Rov in test tank.
5. Using the control box operate the robotic arm through all ranges of motion in water.
6. Place previously constructed items resembling those of the competition on the bottom of the test tank.
7. Slowly complete all tasks to be sure they are possible using the current set up.
8. Reset items on the bottom of the test tank.
9. Complete all tasks as fast as possible while using a timer.