Application for a Free WAM-V
|This is the collaboration space to complete the application for a WAM-V Platform. THe application is due by April 30th to Robotx, the award will be made by Office of Naval Research on June 30th.|
To be considered for this opportunity, please complete the application process by composing a proposal that adheres to the following guidelines:
- Express interest here: robotx.org/apply: This will create your official RobotX application account.
- Review application criteria (below)
- Submit your proposal via your RobotX application account
Directions received after completing Step 1.1 April 2021
WAM-V Application Timeline
- 03 April 2021 – WAM-V Applications Open
- 30 April 2021 – WAM-V Applications Close
- 18 June 2021 – WAM-V Award Recipients Notified
The format of the written paper shall adhere to the following guidelines:
- 6 page limit (excluding Title Page)
- 8.5 x 11 in. page size
- Margins ≥ 0.8 in.
- Font: Times New Roman 12pt
- Header on every page including page number
- Submitted in pdf format
Proposals will be evaluated considering responses in three areas of equal importance.
- Team Resources and Experience
- Technical Approach
- Project Management Approach
Submission of a proposal does not guarantee any award will be made. All applicants will be notified regarding the status of their application (successful/unsuccessful) by 18 June 2021. RoboNation reserves the right to request additional information.
|should include the Applicant's administrative and technical points of contact, telephone numbers, facsimile numbers, and email addresses. If there are multiple technical contacts, please indicate the principal contact.|
for RobotX 2022 Competition
- Principle Author: Joel Martin (c)xxx-xxx-7321, JMartinUSN@gmail.com, Joel.E.Martin2@navy.mil
- Principle Author: Yuval Martin, (c)xxx-xxx-8100, YuvalZion@gmail.com, YuvalMartin@wsu.edu
- Contributors: Naomi-Lynn Zimmerman (OC E-Club Pres.), Giles Miller, Cassie Miller
- Advisors: Dr. Dieter Bevans, Dr. Martin Renken, Aamir Qaiyumi, Jeff Stoch, Dr. Aaron Darnton
Technical Approach and Justification
2022 will be the first OCRobotX Team event, and will present significant challenges. Primarily, raising the money to purchase the material items required, and travel costs associated with the competition in Australia. Moreover, the basic task of putting together a complete engineering group, and designing from startup the primary WAM-V Subsystems, coupled with the AI development, will likely force the team to confine itself to the Maritime Platform only and forego the UAV component of the competition. The WAM-V focus only, should not be considered an under-achievement by any means, considering the short ramp-up.
Major Focus Areas
There are four major essential areas that must be designed, integrated, and proven, prior to any major sensor package development. Namely, the Ground Control Station (GCS), Onboard Mission Manager (MM), and the radio inter-connectivity frameworks—long range WIFI—the GCS and MM require the greatest amount of planning, design and testing. This design and testing should include forward thinking analysis of sensor capability and expansion. Secondarily, propulsion, power distribution and power management systems have almost equal importance to the overall success of the project mission rounding out the four areas.
EE/CS First Order Target
The goal is to develop a robust operating system design, scalable to handle the addition of sensors such as LIDAR, SONAR, RADAR, GPS/IMU, HD Vision and perception, as well as environmental weather, set and drift indicators/detectors, and propulsion control and feedback. The lack of rock-solid navigation, and positional uncertainty problems have plagued many of the RobotX competitors in the past. While the EE/CS team focuses on the computing infrastructure being constructed and tested.
ME First Order Target
The ME teams will focus on the propulsion design and testing with two major goals: designing the propulsion control system to function under direct remote control—essential for initial deployment and placement of the platform—and secondly, semi-autonomous control via the GCS and MM, using waypoint concepts integrated with GPS and platform drift.
Hardware in the Loop
Every attempt will be made to prove algorithm by algorithm performance, first with simulation, then a technique called ‘hardware-in-the-loop’. Hardware-in-the-loop consists on systematically replacing simulated sections, piece by piece, with real hardware proving the stimulus processing is reliable. Designing the MM this way allows for Sim-to-Hardware swap if a Subsystem fails and trouble-shooting in the field needs to take place. This technique also allows a complete system and pseudo-mission rehearsal prior to each in-water event.
Previous Experience, Lessons Learned
Several of the RobotX team members in late 2019, designed and constructed a CrawlerBot (see http://ocrobotx.org/mediawiki/index.php/Holonomic_Robotic_Platform#Project_Purpose) using holonomic drive techniques in anticipation of using that experiential knowledge as an approach vector to design a more complex WAM-V propulsion system. It is apparent to the experienced team members that a combination of straightforward linear propulsion systems that can be mechanically articulated into a holonomic drive system presents the best of both options: speed when needed, and fine-grained maneuverability required to complete complex navigation maneuvers. Power management presents a large opportunity for design consideration with respect to the computing network and infrastructure for sensor data processing, and AI backbone. Raspberry PI 4 computing has proven itself to be a very capable processing platform, hosting Python, MATLAB APIs, and other AI plugins. Distributed computing of multiple PIs can provide cluster computing performance, at literally a fraction of the super-computer cost, and using a miniscule amount of the power consumption. Linux, ROS, Python, and MATLAB are the primary software staples of the processing infrastructure required to complete the project, as well as embedded microcontroller devices similar to Arduinos.
First Order Sensor Development
Three primary sensor inputs, as well as advanced processing must be achieved to meet minimum competition status, namely: LIDAR, Vision and perception, and GPS/IMU. The EE/CS teams will divide the tasks among smaller working groups with articulated development and test events, as well as key subsystem integration milestones. LIDAR processing, vision mapping and AI perception, as well as occupancy grid development becomes critical as the project timeline progresses, since all of the competition tasks rely on mapping the field and interacting appropriately with the objects located in the range. The team has allocated funds to construct training aids to be deployed along with the WAM-V test phases, providing a competition range facsimile for training.
Second Order Sensor Development
Secondary sensor development involves depth sounding/echo sounding sensors for bottom contour mapping which facilitates ground collision avoidance. Finally, SONAR ping detection, discrimination, ranging, and localization is also required to negotiate several of the competition challenges. The ME teams’ secondary task is to develop the projectile launcher required for the ‘Dock and Deliver Challenge’. The in-water testing phase will primarily occur after the Vision-Perception algorithms and hardware have been range tested.
Document the approach
All design, development and test phases will be documented scrupulously as part of the team academic rigor. The OCRobotX team will employ the concept of ‘The Digital Ecosystem’. The digital ecosystem (DE) goes hand-in-hand with the concept of Subsystem Integration plan. All team members will be trained to understand the significance of digital artifacts and how these products support the project. Digital artifacts are defined as: project specifications, technical drawings, design documents, interface management documents, analytical results, bills of material (BOM), work breakdown structures (WBS), machining instructions, test procedures and test results and lastly schedules to include development, design, building, test, and integration. The project leadership is responsible for communicating the requirements as well as the appropriate artifacts and their purpose. The primary importance of digital artifacts becomes apparent during system integration, and producing the engineering paper required for the RobotX presentation. One critical function the DE fills, is to produce Objective Quality Evidence (OQE) to relevant stake holders, proving the engineering team has reached specific milestones in the development project, e,g. satisfying a progress audit by ONR, or WSU and OC staff. Since all of the DE is considered non-proprietary by RoboNation Standards, the OCRobotX team has opted to make all of the DE available at any time to the public via the OCRobotX Wiki located at: http://ocrobotx.org/mediawiki/index.php/Main_Page. The OC engineering club has most of the minutes published online since the first club meeting where the decision was made to participate in the competition (see http://ocrobotx.org/mediawiki/index.php/OC_Engineering_Club org).
Design efficiency in learning heuristics will leverage work by previous team publications. The team will work to design an AI that is capable of determining the efficacy of its own decision making, i.e., the probability of mission success. This feedback can help the designers shape the machine and deep learning algorithms to maximize mission performance. One particular example would be an AI that monitors the power system to determine if the platform has the energy required to complete a range of tasks.
Time line Projection
The master timeline for fundraising and development will take all of the time between the summer of 2021 through to November of 2022. A detailed Work Breakdown Schedule is embedded as two Gantt charts weekly and monthly. It is expected that momentum for the project will grow past the twenty students listed if ONR awards the platform to the OC-WSU Team.
|(0.5 Page Maximum) – Describe the qualifications, capabilities, academic level, and experience of the team members who will support preparing the vehicle for competition.|
|C Zimmerman||Alchemy Code Lab||SWE||Junior Development SWE, Sales and Management||Raspberry PI|
|G Miller||OC Freshman||Finance||Business Owner, Accounting|
|C Miller||OC Freshman||Finance||Business Owner, Accounting, AA Graphic Design|
|J Martin||OC Sophomore||EE-CS||Naval Officer and Instructor, SWE, Navy Keyport Tech, IPC Mfr. Master Instructor, Surface Mount Electronics Master Craftsman, 3D Printing, Certified Solidworks ME DA||UUV, RobotX, SeaPerch, CrawlerBot, SMT Mfr.|
|N Zimmerman||OC Sophomore||EE-CS||Technical Writing, Business Writing|
|D Rancap||OC Sophomore||ME|
|K Richardson||OC Sophomore||ME|
|Y Martin||WSU Junior||EE||Keyport Outreach Mentor (SeaPerch, RoboSub, Camp Create), IPC Mfr.||SeaPerch, CrawlerBot, Other|
|D Jensen||WSU Junior||ME||3D Printing, Plasma Cutting and Powder Coating Contractor||CrawlerBot|
|R Simpson||WSU Junior||ME||College Math Tutor||CrawlerBot|
|E Ma||WSU Junior||ME||Business Owner, Maritime Boat Handler||CrawlerBot|
|J Macinko||WSU Junior||EE||College Math & Physics Tutor, Certified Solidworks ME DA, SWE, Brand Ambassador|
|J Pipkins||WSU Junior||ME||COSTCO Logistics Support||CrawlerBot|
|W Tablan||WSU Junior||EE|
|Z Chausee||WSU Junior||EE||US Airforce Vet (Electronic Tech), Business Owner, Computer Repair|
|B Otto||WSU Junior||EE||Service Industry Manager|
|E Nolting||WSU Junior||EE||Logistics Manager||SeaPerch|
|G Legister||WSU Junior||ME||US Marine Corp Vet (Logistics), College Mathematics Tutor and Support Technician, NASA Aerospace Scholar, Professional Driver|
|I Tran||WSU Junior||ME|
|P Wolczko||WSU Junior||EE||ME Degree, Manufacturing Design, Cad ,CNC Machining, Eagle Scout, SWE|
|J Guerreo||PhD||EE||Professor, Faculty Advisor|
|M Kejariwal||PhD||EE||Program Coordinator EE,Professor, Faculty Advisor|
|M Pitts||PhD||ME||WSU Program Coordinator MME, Faculty Advisor||Mechatronics|
|G Tuncol||PhD||ME,EE||Professor, Faculty Advisor|
|P Dodge||BS||ME,EE||Lab Tech, Grad Student Participant|
|B Asgharian||PhD||ME||Professor, Faculty Advisor|
|J Stoch||BS||ME, EE||Keyport Advisor and Mentor||UUV, USV|
|D Bevans||PhD, Scientist||OCE||AI Keyport Team Advisor, Sonar Acoustics, Autonomy T&E, Small Boat Handling Advisor||UAV, USV, RoboBoat|
|M Renken||PhD, Scientist||EE||Keyport Team Advisor||UAV, USV, ASV, RobotX|
|J Stark-Dykema||BS||ME||Keyport Advisor and Mentor|
|S Naranjo||MA||Education||Navy Senior Enlisted, Mentor, Teacher|
|B Henry||BS||CS, SWE||Naval Officer, SWE, Software Advisor|
|A Darnton||PhD||ME||Keyport Team Advisor|
|(0.5 Page Maximum) – Describe available test venues and technical facilities, expected methods or techniques (or combinations of these) that will be used to prepare your vehicle and its sensor suite for the competition.|
Campus and Facilities
Olympic College and Washington State University-Bremerton share an expansive campus, with an adequate project space and secure storage yard for large maritime vessels. The Kitsap peninsula is surrounded by water on all sides, and has eight public boat launches within 8.5 miles, the closest being less than three blocks from the shared OC/WSU buildings. Some of the team members have access to Keyport Naval Base 3d Printing innovation lab resources available for use, as well as OC having additive manufacturing capabilities. Olympic College specializes in training the Puget Sound Naval Shipyard workforce of tomorrow, consequently the campus has a robust Welding and Machine Shop capable of precision machining.
Exploitation for Outreach
With a rigorous test schedule, and clearly defined test milestones (see the project Gantt in the summary section), the OCRobotX team will utilize Social Media, the local press, and Navy Region Support, to leverage every Maritime Test and Evaluation (MT&E) evolution as a public fundraising/awareness event, as well as a continuous recruitment tool for College Sophomores, Freshmen, and Highschool-College Running-Start Juniors and Seniors.
Test and Evaluation Responsibility
Test, Evaluation and Performance considerations are managed by a dedicated senior team position titled ‘Marine Science: Subsystems Integrator’ (‘Systems Integrator’ embedded document in summary for more detail), This position will be filled by one of the most experienced and motivated students, relying on expert mentorship and advice from Naval Scientists, Engineers, and University Advisors. This individual is held accountable for the ‘Integrated Design, Build and Test Plan’. Industry best practice shows that projects with an integration plan have a higher degree of success. This type of plan defines the stages of integration, during which system elements are successively integrated to form higher level elements, and eventually the finished RobotX platform. The integration plan includes descriptions of the required teams, test standards, testing methods, and integration schedule.
Sponsorships and Partnerships
|(0.5 Page Maximum) – A table of potential academic, industry or government partners, and potential sponsors including their organization, name, and contact information (email and phone number).|
Sponsorships data here
|Corporation||Requested Product Support||Website Contact Location|
|Tacoma Screw||Fasteners and Tools||http://www.tacomascrew.com/|
|Teledyne||sensors, cameras and image processing APIs||https://www.teledyneimaging.com/|
|Banner Engineering||Radar Sensor, LED Indicators||https://www.bannerengineering.com/us/en.html|
|Christina Foundation||Recycled Computer Systems, Displays||https://www.cristina.org/become-partner/|
|Glenair||Marine Grade Connectors, cables||https://www.glenair.com/|
|Copenhagen Subsea||Thrusters, Propulsion Hardware||https://www.copenhagensubsea.com/|
|Blue Robotics||Sonar, Depth Sounder, Thrusters||https://bluerobotics.com/|
|Mathworks||MATLIB Linux API Libraries||https://www.mathworks.com/|
|NVIDIA||Display Hardware, Vision AI, TX2 Kit||https://www.nvidia.com/en-us/research/academic/|
|Velodyne LiDar||LIDAR Module||https://velodynelidar.com/|
|SilverNet||long distance WIFI equipment||https://silvernet.com/contact-us/|
|Raspberry PI||Computing Hardware||https://www.raspberrypi.org/|
|Linak||Linear Actuator Modules||https://www.linak.com/about-linak/csr/sponsorships/|
|Volz||Servo Actuators, and support Hardware||https://www.volz-servos.com/|
|Torc Robotics||Remote Task Control System||https://torc.ai/|
|Theia Technologies||Linear Optical Lenses and Technology||https://www.theiatech.com/|
|Parker Lord||Microstrain GPS/IMU Sensors||https://www.microstrain.com/inertial-sensors/all-sensors|
|Aptiv||Connectors, Cable, Tools, Grants||https://www.aptiv.com/|
|Costco Wholesale||Marine Batteries, Chargers, Fire Extinguishers, High Volume Inflater/Deflator, Folding Chairs, Portable Canopy, Portable Table||https://www.costco.com/charitable-giving.html|
|(0.5 Page Maximum) – Give a brief description of management approach to carry out the program successfully.|
Project Management Approach
The OCRobotX team primarily consists of high school students, freshmen and sophomores pulled from Olympic College—serving as apprentice support staff to a more mature engineering team of 3rd year OC sophomores, and Juniors, Seniors and Grad students from Washington State University (WSU). Recruitment is ongoing primarily one on one. The OC recruitment slogan is “Each one Win one”.
Logistics and Personnel
Team management occurs at three layers: Technical Project Management (TPM), Department Level, and Team Level. Leadership positions are voluntary and rotational. Top leadership is expected from more senior students. WSU has discussed integrating the RobotX project into one of it’s Senior-Design options. There is consideration to grade holistically based on management success regardless of product deliverable efficacy. The TPM oversees the Subsystems Integrator (SI), the Engineering Team Manager (TM), the Public Relations Manager (PAO), and the Financial Manager (FiMa).
Fundraising, Finances, Property Management, and Public Affairs are handled primarily by OC students majoring in finance, accounting, and multi-media degrees. The TM oversees respective engineering teams EE, ME, CS, Mathematics via the Team Leads. Teams are dynamically fluid and can be mixed disciplines based on the development and testing tasks and milestones (see Gantt in summary section). A complete laydown of team member core competencies and broad project responsibilities can be seen in the document embedded in the summary section below (OCRobotX Team Member Duties).
Schedule and Timeline
Team working and planning groups determine team direction, and managers lead by example. The OCRobotX team continually refines its management principles and documents requirements through the OCRobotX Wiki located at http://ocrobotx.org/mediawiki/index.php/Main_Page . The Technical Project Management documents and Gantt Production schedule are hosted by the software ‘Projeqtor’ with a team project instantiation located at http://ocrobotx.org/projeqtor/view/main.php, Login: Guest, Password: Guest.
Rough Order of Magnitude Cost
|(0.5 Page Maximum) – Applications must include a table of rough order of magnitude cost showing anticipated expenditures to prepare the WAM�V for RobotX as well as all logistical costs.|
Spreadsheet cost estimation here
|Categories||Items||Cost Basis||QTY||EXT||Funding Source|
|Competition Travel Expenses||Member Flight Tickets/Stipends||$2,500.00||15.0||$37,500.00||X||X|
|Advance Team: Hotel Stipends||$650.00||3.0||$1,950.00||X||X|
|Advance Team: Meal Stipends||$250.00||3.0||$750.00||X||X|
|Main Team: Hotel Stipends||$500.00||12.0||$6,000.00||X||X|
|Main Team: Meal Stipends||$175.00||12.0||$2,100.00||X||X|
|Competition Marine Batteries||$110.00||6.0||$660.00||X||X|
|Competition Travel Expenses||Totals||$50,960.00|
|Material Cost||Wam-V Vessel||$70,000.00||1.0||$70,000.00||X|
|ESD 3D Printer Filament 1 kg roll||$110.00||2.0||$220.00||X||X|
|Nylon 3D Printer Filament 1 kg roll||$50.00||1.0||$50.00||X||X|
|ABS 3D Printer Filament 1 kg roll||$30.00||2.0||$60.00||X||X|
|PLA 3D Printer Filament 1 kg roll||$30.00||2.0||$60.00||X||X|
|Wam-V Trailer Raw Components||$1,000.00||1.0||$1,500.00||X||X||X|
|Trailer Licensing Fees||$420.00||1.0||$420.00||X||X|
|Maritime Platform Components||CPU Controllers||$85.00||6.0||$510.00||X||X||X|
|Deep Cycle Marine Batteries||$110.00||6.0||$660.00||X||X|
|ROV(Remotely Operated Sub)||$500.00||1.0||$500.00||X||X||X|
|UAV(Unmanned Arial Vehicle)||$500.00||1.0||$500.00||X||X||X|
|Safety Interlock Switches||$20.00||4.0||$80.00||X||X|
|6 Channel Remote Control Unit||$65.00||1.0||$65.00||X||X|
|GPS Antenna Mast||$50.00||1.0||$50.00||X||X||X|
|Shore-side Short Haul Wi-Fi System||$100.00||1.0||$100.00||X||X||X|
|Shore-side Short Haul Wi-Fi Antenna||$100.00||1.0||$100.00||X||X||X|
|Ethernet Wi-Fi Hub||$100.00||2.0||$200.00||X||X|
|100 ft Rope Coil||$20.00||3.0||$60.00||X||X|
|Canopy Pop-up Tent||$220.00||1.0||$220.00||X||X|
|Waterproof Electronics Enclosure||$12.00||10.0||$120.00||X||X|
|Outdoor Folding Chairs||$30.00||15.0||$450.00||X||X|
|Kayak and Paddle||$300.00||1.0||$300.00||X||X|
|Maritime Platform Components||Totals||$16,237.00|
|Constructed Items||Payload Delivery System||$2,000.00||1.0||$1,200.00||X||X|
|Propulsion Steering System||$4,000.00||1.0||$2,000.00||X||X|
|ROV Handleing System||$2,000.00||1.0||$1,000.00||X||X|
|Power Management System||$400.00||1.0||$400.00||X||X|
|Training Aids - Shape of the Day Buoy||$1,000.00||1.0||$600.00||X||X|
|Training Aids - Payload Target Box||$1,000.00||1.0||$1,000.00||X||X|
|Training Aids - Maze Buoys||$200.00||10.0||$1,000.00||X||X|
|Team Tools||METCAL Soldering Stations||$2,400.00||1.0||$2,400.00||X||X||X|
|Tapered Needle Nose Pliars||$9.00||3.0||$27.00||X||X||X|
|Round Needle Nose Pliars||$9.00||3.0||$27.00||X||X||X|
|Long Needle Nose Pliars||$9.00||3.0||$27.00||X||X||X|
|Bent Needle Nose Pliars||$9.00||3.0||$27.00||X||X||X|
|Diagonal Cutting Pliars||$9.00||3.0||$27.00||X||X||X|
|Standard Socket 1/2 Drive||$10.00||1.0||$10.00||X||X||X|
|Standard Socket 5/16" to 1"||$20.00||1.0||$20.00||X||X||X|
|Hex Driver Set||$20.00||3.0||$60.00||X||X||X|
|Torx Driver Set||$20.00||1.0||$20.00||X||X||X|
|Allen Wrench Set||$20.00||1.0||$20.00||X||X||X|
|Philips Screw Driver Set||$20.00||4.0||$80.00||X||X||X|
|Flatblade Screw Driver Set||$20.00||4.0||$80.00||X||X||X|
|Small Balpeen Hammer||$15.00||1.0||$15.00||X||X||X|
|Large Balpeen Hammer||$15.00||1.0||$15.00||X||X||X|
|100 ft Extension Cord||$60.00||2.0||$120.00||X||X|
|Electrical Distribution Power Strips||$30.00||5.0||$150.00||X||X|
|12v Marine Battery Chargers||$60.00||4.0||$240.00||X||X|
|Hazmat||99% IPA (Gallon)||$40.00||1.0||$40.00||X||X|
|Rosin Flux (Quart)||$35.00||1.0||$35.00||X||X|
|Lead Solder Roll (1lb)||$30.00||1.0||$30.00||X||X|
|Soldering Braid (rolls)||$20.00||10.0||$200.00||X||X|
|Project Cost||Total Financial Commitment||$151,117.00|
|(0.5 Page Maximum) – Give a brief summary and final discussion of how your team will be able to successfully compete at RobotX in Sydney in 2022.|
The OCRobotX team has presented the University and College Staff, including the OC Dean with several briefs indicating the willingness of engineering students to participate fully in the competition. Enthusiasm has been expressed by students as early as the freshman class which includes high school Running Start participants.
Recruitment strategy has purposefully focused on 2nd and 3rd year sophomores who pivoted into the Junior Class and make the core of this year’s participants leveraging the RobotX competition as their Senior Project next fall.
Think outside the box
Encouraging non-engineering students to participate, leverages human capital for the area of public relations and finance, relieving engineering students of the burden of raising capital and engineering. Some of the team members have several years of professional logistics experience stemming from the military and private industry. Utilizing non engineering student participants as resources for solving financial and logistics issues in-tandem with the develop team ensures a high rate of success in meeting the goal of sending students to the Australian competition.
RobotX Capstone for RoboNation
The Kitsap Peninsula has a robust mentorship program of RoboNation Initiatives—SeaPerch, Robosub—sponsored by Keyport and PSNS. Every opportunity to exploit the home team advantage to inspire STEM competition at a K-12 level will be afforded the program facilitators. The OC team has demonstrated that several students who have been previous RoboNation participants where inspired to join the OCRobotX team, and that the RobotX competition can become the RoboNation Capstone event.
The principal authors felt it was necessary to include additional information as embedded documents to illustrate the long-term commitment that members of the team have despite the debilitating social and physical separation from the College and University campus that the current pandemic has caused. They are offered as addendums to the provided information to assure the ONR application adjudicators that every effort will be made to follow through with the project commitment.