Saeedeh Ziaeefard

Highly Maneuverable Low-Cost Underwater Glider: Design and Development

This letter presents the design and potential impact of the developed Research Oriented Underwater Glider for Hands-on Investigative Engineering (ROUGHIE). The ROUGHIE is an open-source, highly maneuverable, and low-cost vehicle that enables rapid development and testing of new hardware and software. ROUGHIE is an internally actuated glider capable of performing steady sawtooth glides in shallow water down to 3 m, tight turns with a minimum radius of 3 m, and a minimum endurance of 60 h. The novelty of this study is twofold: 1) a rail-based design to facilitate modularity and ease of assembly and 2) an effective internal rotary mass mechanism to increase maneuverability and perform tight turns. The ROUGHIE design strategically uses 3D printed plastic parts in low stress situations, which allows extreme design flexibility and enables tightly packed modules that can be easily customized.

A multi-level motion controller for low-cost Underwater Gliders

An underwater glider named ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering) is designed and manufactured to provide a test platform and framework for experimental underwater automation. This paper presents an efficient multi-level motion controller that can be used to enhance underwater glider control systems or easily modified for additional sensing, computing, or other requirements for advanced automation design testing. The ultimate goal is to have a fleet of modular and inexpensive test platforms for addressing the issues that currently limit the use of autonomous underwater vehicles (AUVs). Producing a low-cost vehicle with maneuvering capabilities and a straightforward expansion path will permit easy experimentation and testing of different approaches to improve underwater automation.

GUPPIE, underwater 3D printed robot a game changer in control design education

This paper presents innovative strategies to teach control and robotic concepts. These strategies include: 1) a real world focus on social/environmental contexts that are meaningful and “make a difference”; 2) continuous design potential and engagement through use of a platform that integrates design with engineering; 3) mission-based versus application-based approaches, where meaningful application justifies the process; and 4) hands-on, inquiry-based problem-solving. For this purpose a Glider for Underwater Problem-solving and Promotion of Interest in Engineering or “GUPPIE” platform and its simulator were utilized. GUPPIE is easy and inexpensive to manufacture, with readily available lightweight and durable components. It is also modular to accommodate a variety of learning activities. This paper describes how GUPPIE and its interdisciplinary nature was used as a pedagogical platform for teaching core control concepts for different age groups. The activities are designed to attract the interest of students as early as middle school and sustain their interest through college. The game changing aspect of this approach is scaffolded learning and the fact that the students will work with the same platform while progressing through the concepts.

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech’s custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE’s design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between different motion patterns. This approach uses multiple feedforward-feedback controllers. Different aspects of the roll mechanism and the effectiveness of the controller on turning motion are discussed based on experimental results. The results illustrate that the ROUGHIE is capable of achieving tight turns with a radius of 2.4 meters in less than 3 meters of water, or one order of magnitude improvement on existing internally actuated platforms. The developed roll mechanism is not specific to underwater gliders and is applicable to all AUVs, especially at lower speeds and in shallower water when external rudder is less effective in maneuvering the vehicle.

A novel roll mechanism to increase maneuverability of autonomous underwater vehicles in shallow water

This paper presents a novel roll mechanism and an efficient control strategy for the roll and pitch of internally actuated autonomous underwater vehicles (AUVs) including most underwater gliders (UGs). The proposed design and approach increases maneuverability which is essential for operating in shallow water or crowded harbors. The design is implemented on Michigan Techs research UG ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering) and the performance is validated. The experimental results demonstrate that ROUGHIE is capable of tight turn radii down to approximately twice the vehicle length in shallow water.

Marine Robotics: An Effective Interdisciplinary Approach to Promote STEM Education

GUPPIE, a Glider for Underwater Problem-solving and Promotion of Interest in Engineering was developed in Nonlinear and Autonomous System Laboratory at Michigan Technological University to be used as an educational tool to broaden the impact of Science, Technology, Engineering, and Mathematics (STEM) learning. The GUPPIE educational program utilizes high-interest themes, meaningful contexts, and hands-on activities to engage students as early as 4th grade and sustain their interest and learning to and through college. The program has engaged over 2000 students since 2013. The interdisciplinary nature of GUPPIE and hands-on activities in diverse areas from hardware development, and programming to gathering and interpreting data will improve students’ ability for critical, creative problem solving, and ultimately increase individual motivation for pursuing STEM academic and career pathways.

Co-robotics hands-on activities: A gateway to engineering design and STEM learning

Abstract This paper presents the effect of meaningful learning contexts and hands-on activities, facilitated using two robots that work with people (co-robots), in broadening and sustaining pre-college student engagement in Science, Technology, Engineering, and Mathematics (STEM). The two co-robots are: (1) a Glider for Underwater Problem-solving and Promotion of Interest in Engineering or GUPPIE and (2) a Neurally controlled manipulator called Neu-pulator. The co-robots are easy and inexpensive to manufacture, with readily available lightweight and durable components. They are also modular to accommodate a variety of learning activities that help young students to learn crosscutting concepts and engineering practice. The early assessment results show that students’ interests in activities related to robotics depend on their perception of the difficulty and their confidence level. The key is to start early when the students are young. The challenge is to break the barriers and define tasks as fun activities with a learn and play approach that can be rewarding. In this work, using a meaningful context – as in co-robots that help humans – in a hands-on project-based program that integrates different aspect of design, science, and technology is found effective in increasing students’ enthusiasm and participation. The co-robots and the hands-on activities can be easily adopted in classrooms by teachers with no engineering background who seek innovative ways to connect interdisciplinary core ideas and standards to the concepts they need to teach.