Transcript PPT - ISR - International Submarine Races

Human Powered Submarine
Swamp Thing 3
University of Florida
International Submarine Races at
David Taylor Model Basin
Carderock, MD
June 27 - July 1, 2011
Swamp Thing 3
University of Florida 2011 Human
Powered Submarine Team
•Dana Massaro – Captain
•Don Wehagen – Lead Engineer
•Andy Luce – Editor
•Cory McFarlane
•Alex Muñoz-Mendoza
•Kenny Wilbur
Swamp Thing 3
Team Goals
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Automatic pitch control
Automatic yaw control
Variable pitch propeller
Top speed greater than 4.7 knots (Swamp Thing 2)
Avoid galvanic and crevice corrosion
Have Fun!
Swamp Thing 3
Design Philosophy
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Simplicity
– Make our designs simple
– Make our submarine easy to assembly and easy to operate
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Automation
– Electronic control system to minimize driver error
– Automatic steering so driver could focus only on pedaling
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Adaptation
– Create simple solutions to whatever problems may occur
– Be prepared for worst
Design and Fabrication
Hull
Drive train
Propulsion
Mechanical
controls
Electrical
controls
Safety
Life Support
Hull
Hull
Hull
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Designed in Pro/ENGINEER for smallest cross section to reduce drag
6 lb density foam half-mold made on a 5 axis CNC mill
Mold used to lay fiberglass; two halves joined together
Hull
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Two hatches held in place with a spring-loaded latch and pin
Aluminum plates inside fiberglass layers in hull allow mounting harness and drive
train to sub
Lined with low density foam to maintain neutral buoyancy
Equipped with exhaust valve
Design and Fabrication
Hull
Drive train
Propulsion
Mechanical
controls
Electrical
controls
Safety
Life Support
Propulsion
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Clark Y 3-blade propeller designed in SolidWorks
Propeller model was made in rapid prototyped
Fiberglass female mold made from model
Mold used to lay up carbon fiber
Drive Train
Drive train
Drive Train
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Single speed bicycle chain-and-sprocket
system with 5:1 gear ratio
Rapid prototype bevel gears
Chain tensioner to prevent chain slippage
Clip-in pedals for maximum power transfer
Hollow driveshaft to accommodate control
rod for variable pitch
Electrical Controls
Electrical
controls
Electrical Control Systems
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Automatic pitch control
– Pressure sensors in front and back of sub to calculate depth
– Microprocessor controls four fins to control pitch and depth based on pressure sensor
readings
Electrical Control Systems
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Automatic yaw control
– Webcam will follow rope lights at the bottom of the course
– Image processing on a Gumstix Water board
– Microprocessor controls two rudders to control yaw based on path-following algorithm
Electrical Control Systems
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Variable pitch propeller
– Microprocessor adjusts linear actuator to control angle of attack of propeller blades
based on the sub’s speed to achieve maximum thrust at all times
Mechanical Controls
Mechanical
controls
Mechanical Backup Control Systems
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Mechanical pitch and yaw control
- Ropes mounted to PVC handle bars run the length of the sub and connect to the
fins
- Pulling the ropes moves elevators and rudders
Fixed Pitch Propeller
- Allows for manual pitch adjustment after each race
Life Support
Life Support
Life Support
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20 cu. ft. pony tank used as pilot’s primary air source
– Secured underneath harness
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Spare air attached to pilot as secondary air source
Safety
Safety
Safety Systems
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Harness to secure pilot to sub
Latches on hatch accessible from inside
and outside of sub
Emergency buoy signals pilot in distress
for Navy divers to rescue
Beacon allows sub to be seen from
distances underwater
UF Human Powered Submarine
QUESTIONS?