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'     # $ oR$8߲Pİvn<[vR$"u0ɣ{;)v"$ɉ_ZJ |]p /$$"$~Q2Ie1~N>8c $ ffv!@8# $  ? %O =46Precision Underwater Positioner Concept Design ReviewPUP Team: Sheri White, Bill Kirkwood, Mark Brown, Danelle Cline, Rich Henthorn, Scott Jensen, Martin Lee, Peter Brewer, Edward PeltzerOutlineIntroduction Objective Definitions Science drivers Requirements Concepts Options considered Concept trade-offs Preferred conceptH &8 &8Q eSystem Specifications Overall Mechanical Electrical Software Project plan High risk elements ScheduleH' ' ]   ObjectiveDesign a precision positioner for underwater use to allow detailed spectra to be obtained by the laser Raman spectrometer (LRS) Provide a precision positioner that can be used for other MBARI instruments`  DefinitionsPUP  Precision Underwater Positioner LRS  Laser Raman Spectrometer Probe head  The portion of the LRS that is deployed to the target. It is ~40 lbs. in its pressure housing. HoloGRAMS  LRS control software from Kaiser Optical Systems, Inc. `  ` 8 Immersion optic  A probe head optic with a focal distance of ~4 mm in air. It is a 0.5 diameter tube which extends from the probe head housing and is sealed with a packing gland seal. Stand-off optic  A probe head optic with a focal distance of 2.5 in air. It is used behind a dome window in the probe head housing`A`tScience DriversThe LRS is a unique in situ instrument It obtains a  fingerprint of the chemical and molecular make-up of a target Solids, liquids, and gases No sample preparation is required It is non-destructive (in most cases) It is interdisciplinary Chemistry, biology, mineralogyl'Ma Ma Science Drivers!Positioning requirements of the LRS Probe head optics have short focal depth Approximately 0.2 mm for immersion optic Approximately 1.0 mm for the stand-off optic The spot size is < 1 mm Laser beam must be close to normal to the surface At 10 degrees from normal intensity drops to 1/2 l$+VK1$+VK1LRS Focal Depth  LRS Normalcy IssueswThe intensity of the peak from a silicon wafer decreases by half when the beam is 10 degrees from normal to the surfacexw  Use Scenarios Focussing the probe head moving the probe head to where the collected signal is at a maximum first coarsely to the desired target, then in small 0.1-0.5 mm increments signal is strongest when the laser beam is perpendicular to the surface (within 10 degrees of normal).  Use ScenariosProfiling a target provides information on how the composition of a target changes along a given dimension collect spectra from discreet points at some interval determined by the user (e.g., as small as 0.1 mm, or as large as 1 cm). Use ScenariosPenetrating sediments when penetrating sediments with the immersion probe, the tip of the probe will not be visible it is important to be able to: move the probe head in defined increments have feedback on the position of the probe headB~Z~YFunctional Requirements{1. Shall be carried and deployed by an ROV 1.1. Shall be powered by the ROV 1.2. Shall have a stand-off distance of 5 m 1.3. Shall have a cable management system 2. Shall be controlled by a shipboard scientist 2.1. Shall have GUI control/display software portable to user defined computer 2.2. Shall have location feedback 2.3. Shall have dual speed positioning 3. Shall have one external camera mounted to the sensor mount for positioning 3.1. Shall have external lighting 3.2. Shall have two crossing lasers for positioning reference 3.3. May have a second camera mounted to the positioner frame 4. Shall accommodate uneven ocean floor (slopes up to 30 degrees) 5. Shall accommodate a sensor head in either the horizontal or vertical position 5.1. May be capable of changing orientation during deployment 6. May accommodate other (non-LRS) sensors 6.1. May accommodate serial instruments t+!p!!pV!0!pO!pI!Np"!p}!p>!p+p(!p!b ( "  " ' " % " - " J "  " " " K "  " : " 9 " ? " N " 9 " ( " "   t Functional Requirements1. Minimum position travel of the beam spot (each dimension) 15 cm 2. Maximum travel increment of the beam spot (each dimension) 0.1 mm 3. Maximum movement hysteresis (each dimension) 0.1 mm 4. Maximum time to travel full range (each dimension) 1 minute 5. Relative precision (each dimension) 0.1 mm 6. Relative accuracy (each dimension) 1 mm 7. Maximum deviation from normal to the target surface 10 degrees 8. Maximum sensor weight allowed on mounting surface (in air) 30 kg 9. Maximum sensor size allowed on mounting surface (in cm) 60 x 20 x 20 10. Maximum weight of complete system (in air) 100 kg 11. Maximum stowed size (excluding drawer space) (in cm) 122 W x 61 H x 61 D 12. Maximum available drawer space for stowage (in cm) 61 W x 30 H x 91 D 13. Power 13.1. Input power (Tiburon) 240 VDC, 15 kW 13.2. Input power (Ventana) 110 VAC, 2 kW 14. Operational depth 4000 m 15. Operating temperature (ambient) 0 to 50 degrees C!!U!T!b A b B b 4 b < b + b ( b ? b B b G b 2 b I b F b  b % b $ b  b 2  Concepts ConsideredConcepts 3 DOF XYZ ZqR Zq1q2 4 DOF ZqRf 6 DOF Hexapod (Stewart Platform) Optical(  6 3 Criteria Functional Requirements Design/Construction complexity, time, cost Software/Control complexity, time, cost Maintainance corrosion, repairs, reduncancy Operations integration, stowage User Control/Understanding Future Adaptibility ,  / ,  / !Concepts Considered    Concept Trade-Offs Optical positioning Moving the lens inside the pressure case Pros: Gives good precision Moving small lens small distances Don t have to deal with seafloor environmental issues All movement is within the probe head housing Cons: Is optic-specific Each LRS optic would need a separate optical positioning system Would require modifying the Kaiser optics High cost and long time to complete/"6.j$/"6.j# Concept Trade-Offs h3 DOF (XYZ) Has simple motions Doesn t meet normalcy requirements 4 DOF (ZqRf) Has greater flexibility Can move sensor head from horizontal to vertical Has some simple motions 6 DOF (Hexapod) Has flexibilty, and can tilt and level itself Greater complexity No simple motions (all actuators must move at once) 6 IA4 6IA3 5Concept Trade-Offs What we learned we needed by going through the process: Adjustable tripod legs For accomodating unlevel seafloor 3 points define a plane Pan & Tilt capability at the sensor head For normalcy requirement Camera and crossing lasers For aid in positioning~8:)8:)  Preferred Concept 5 DOF, tripod design ZqR with pan & tilt at the sensor head Meets the Functional Requirements Provides flexibilty for looking at different targets seafloor sediments, hydrothermal vents, rocks, etc. Not overly complex to design, use, understandv4'!64 "System Specifications  Overall  Bill Kirkwood Mechanical  Mark Brown Electrical  Scott Jensen Software  Danelle Cline/Rich Henthorn Testing  Martin Lee /   ` ̙33` ` ff3333f` 333MMM` f` f` 3>?" dd@,|?" dd@  " @ ` n?" dd@   @@``@n?" dd@  @@``PR    @ ` ` p>> 0j(  d  < @   0P=  = FClick to edit Master text styles Second level Third level Fourth level!    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