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.

Guidlines

To be considered for this opportunity, please complete the application process by composing a proposal that adheres to the following guidelines:

Initiate Account

1. Express interest here: robotx.org/apply: This will create your official RobotX application account.
2. Review application criteria (below)
3. 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

Format

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

Evaluation Criteria

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.

Title Page

WAM-V Application
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

Initial Challenge

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).

AI Focus

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.

Team Qualifications

Team Resources and Experience Teams may be comprised of students at all levels of graduate and undergraduate experience and may also include industry participants. Team leadership and a majority of competitors must be students.

Describe the qualifications, capabilities, academic level, and experience of the team members who will support preparing the vehicle for competition. 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. Describe your team’s previous competitive experience and how those experiences have prepared you for this event.

Your responses will be evaluated considering the following:

1. Range and depth of technical facilities with respect to component design and fabrication, software development, and test facilities for autonomous systems.
2. Scope and qualifications of team members, including technical and project management capabilities.
3. Description of the roles and experience of any advisors/mentors who are not explicitly team members.
4. Previous competitive experience in robotics or autonomy competitions.

Condensed Team Qualifications here

Team Members	Academic Level	Major ME,EE,CS	Work Experience (Capabilities)	Robotics Experience
C Zimmerman	Alchemy Code Lab	SWE	Junior Development SWE, Sales and Management
G Miller	OC Freshman	Finance	Business Owner, Accounting
C Miller	OC Freshman	Finance	Business Owner, Accounting, AA Graphic Design
J Martin	OC Sophmore	EE-CS	Naval Officer, SWE, Navy Keyport Tech, Former RobotX judge, IPC Mfr. Master Instructor	RobotX, SeaPerch, RoboSub, CrawlerBot, SMT Mfr.
N Zimmerman	OC Sophmore	EE-CS	Technical Writing
D Rancap	OC Sophmore	ME
K Richardson	OC Sophmore	ME
Y Martin	WSU Junior	EE	Keyport Outreach Mentor (SeaPerch, RoboSub, Camp Create), IPC Mfr.	SeaPerch, RoboSub, CrawlerBot, Other
D Jensen	WSU Junior	ME	3D Printing, Plasma Cutting and Power 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
J Pipkins	WSU Junior	ME		CrawlerBot
W Tablan	WSU Junior	EE
Z Chausee	WSU Junior	EE	US Navy Vet
B Otto	WSU Junior	EE
E Nolting	WSU Junior	EE		SeaPerch, RoboSub
P Wolczko	WSU Junior	EE	ME Degree
J Guerreo	PhD	EE	Professor, Faculty Advisor
M Kejariwal	PhD	EE	Program Coordinator EE,Professor, Faculty Advisor
M Pitts	PhD	ME	Program Coordinater MME, Professor, Faculty Advisor	Mechatronics
G Tuncol	PhD	ME,EE	Professor, Faculty Advisor
P Dodge	BS	ME,EE	Lab Tech
B Asgharian	PhD	ME	Professor, Faculty Advisor
J Stoch	BS	ME, EE	Keyport Advisor and Mentor	UUV, USV
D Bevans	PhD		Keyport Team Advisor	UUV, USV
M Renken	PhD	EE	Keyport Team Advisor	UAV, USV, ASV, RobotX
A Qaiyumi	MA	ME	Keyport Team Advisor	UAV, USV, ASV, RobotX
J Stark-Dykema	BS	ME	Keyport Advisor and Mentor
S Naranjo	MA	Education	Navy Vet, Mentor, Teacher
A Darnton	PhD	ME	Keyport Team Advisor

Sponsorships and Partnerships

Sponsorships data here

Private Industry Financial Support
Corporation	Requested Support	Website Contact Location
Lockheed Martin	Grants, Monetary Sponsorship	https://www.lockheedmartin.com/
Northrup Grumman	Grants, Monetary Sponsorship	http://www.boeing.com/principles/community-engagement.page#/education
Boeing	Grants, Monetary Sponsorship	https://www.rtx.com/
General Dynamics	Grants, Monetary Sponsorship	https://www.gd.com/
Raytheon	Grants, Monetary Sponsorship	https://www.rtx.com/contacts
International Society for Optics and Photonics	Grants, Monetary Sponsorship	https://spie.org/education/education-outreach-resources/education-outreach-grants?SSO=1
Captain Planet Foundation-ecoTech	Grants, Monetary Sponsorship	https://captainplanetfoundation.org/grants/ecotech/
AMGEN Foundation	Grants, Monetary Sponsorship	https://www.amgen.com/responsibility/amgen-foundation/amgen-foundation-grants
SC Johnson	Grants, Monetary Sponsorship	https://www.scjohnson.com/en/interacting-with-sc-johnson/grants/
DiscoverE Engineers	Grants, Monetary Sponsorship	http://www.discovere.org/about-us/outreach-grants
Michael & Susan Dell	Grants, Monetary Sponsorship	https://www.dell.org/how-we-fund/grants/?tab=partnerships-content
Aflac	Grants, Monetary Sponsorship	https://www.aflac.com/about-aflac/corporate-citizenship/default.aspx
Bruce J. Heim Foundation	Grants, Monetary Sponsorship	https://brucejheimfoundation.org/grant-applications/Applications
Halliburton	Grants, Monetary Sponsorship	https://www.halliburton.com/en/about-us/serving-communities/halliburton-foundation-granting-programs
Shell Corporation	Grants, Monetary Sponsorship	https://www.shell.us/sustainability/request-for-a-grant-from-shell.html
Sony	Grants, Monetary Sponsorship	https://www.sony.com/en_us/SCA/social-responsibility/giving-guidelines.html
PPG Foundation	Grants, Monetary Sponsorship	https://communities.ppg.com/who-we-are

Partnership data

Industry Partner/Sponsor
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/
Boston Whaler	Grants	https://www.bostonwhaler.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

Management Approach

Project Management Approach

The scale of the RobotX competition requires a strong project management approach to facilitate a good performance at the event. Applicants should consider the overall budget required to build a competitive system, and all logistics required to participate in the competition. Recruiting team members and organizing and scheduling the team workforce are important aspects of team management. Developing a plan of action and milestones to meet system development and testing is critical. Dedicated activities to ensure the required level of sponsorship will be necessary.

Budget

As part of your proposal, include a budget, including as much detail as possible regarding the basis for the estimates. Include areas of uncertainty and how you have addressed them in your estimate.Consider total costs for participation in RobotX, taking into account elements such as hardware and software tools and equipment, parts, labor, shipping, airfare, lodging, food, and other factors inherent to competing at the event in Sydney, Australia. Except in the most unusual cases, it will be necessary for each team to attract additional financial and technical support from industry, local businesses, and organizations. Describe your recent experience in attracting meaningful sponsorship in past competitions or activities. 1 April 2021

Logistics and Personnel

Include as much detail as possible about your plans to transport the WAM-V (it will be delivered to you in its own custom, reusable shipping case), any additional paraphernalia, equipment, tools, and personnel to Sydney, Australia. Consider the logistics required to ship the equipment across international borders and allocate enough time in your project timeline. Describe in as much detail as is now known, the size of your full team, your on�site team, and team associates.

Schedule and Timeline

Consider the timeline between now and the competition and lay out a notional schedule for your project. This should include at a minimum designing, building, testing, and shipping the system to and from the competition. Estimate the time it will take to design and build or procure the parts, as well as testing time. Don’t forget to take into account academic schedules, holidays, access to facilities, and any other factors that may impact your ability to prepare for and participate in the competition.The following key elements will be considered when evaluating your Project Management approach:

1. The realism of the estimated costs and expected availability of funds for team support, vehicle shipment (inbound and outbound), team travel (to include lodging and local transportation), and other expenses.
2. Reasonableness of schedule with sufficient time allocated for elements of system design, building, and testing.
3. Plan for recruiting talent (team members and advisors), and sponsorship (monetary as well as equipment and facilities).
4. Any letters of support from industry, government, university, etc. (This will not count in your 6-page limit.

Rough Order of Magnitude Cost

Spreadsheet cost estimation here

Categories	Items	Cost Basis	QTY	EXT	Funding Source
					ONR	Keyport	OC/WSU	Industry Sponsors	Grants	Social Media Fundraising
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
	Equipment Transportation	$2,000.00	1.0	$2,000.00					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
Material Cost	Totals			$72,310.00
Maritime Platform Components	CPU Controllers	$85.00	6.0	$510.00				X	X	X
	Digital Relays	$20.00	20.0	$400.00				X	X	X
	Ardiunos	$36.00	10.0	$360.00				X	X	X
	LiDAR Unit	$300.00	1.0	$300.00				X	X	X
	Sonar Sensor/Array	$7.00	1.0	$7.00				X	X	X
	Deep Cycle Marine Batteries	$110.00	6.0	$660.00					X	X
	Propulsion Motors	$250.00	4.0	$1,000.00				X	X	X
	Vision System	$200.00	2.0	$400.00				X	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
	Light Beacon	$150.00	1.0	$150.00				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
	Shipping Containers	$100.00	6.0	$600.00		X			X	X
	GPS System	$300.00	1.0	$300.00				X	X	X
	GPS Antenna Mast	$50.00	1.0	$50.00				X	X	X
	INS System	$900.00	1.0	$900.00				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
	Ethernet Cables	$10.00	20.0	$200.00					X	X
	Marine Radios	$120.00	2.0	$240.00					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
	Folding Table	$150.00	2.0	$300.00					X	X
	Waterproof Electronics Enclosure	$12.00	10.0	$120.00					X	X
	Outdoor Folding Chairs	$30.00	15.0	$450.00					X	X
	Shipping Containers	$7,165.00	1.0	$7,165.00				X	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
Constructed Items	Totals			$7,200.00
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
	Panavise	$40.00	1.0	$40.00					X	X
	Droplights	$10.00	4.0	$40.00					X	X
	Drill Set	$40.00	1.0	$40.00					X	X
	Sawzall	$80.00	1.0	$80.00					X	X
	100 ft Extension Cord	$60.00	2.0	$120.00					X	X
	First-Aid Kit	$20.00	1.0	$20.00					X	X
	Safety Glasses	$25.00	10.0	$250.00					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
	Fire Extinguisher	$40.00	1.0	$40.00					X	X
	Hearing Protection	$15.00	5.0	$75.00					X	X
	Work Gloves	$15.00	5.0	$75.00					X	X
	Respirators	$40.00	2.0	$80.00					X	X
Team Tools	Totals			$4,105.00
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
Hazmat	Totals			$305.00
Project Cost	Total Financial Commitment			$151,117.00