Critical Design Review Remote Aquatic Vehicle (RAV)
description
Transcript of Critical Design Review Remote Aquatic Vehicle (RAV)
Critical Design ReviewCritical Design ReviewRemote Aquatic Vehicle (RAV)Remote Aquatic Vehicle (RAV)
Matthew AllgeierMatthew AllgeierKevin DiFalcoKevin DiFalcoDaniel HuntDaniel Hunt
Derrick MaestasDerrick MaestasSteve NaumanSteve Nauman
Jaclyn PoonJaclyn PoonAaron ShileikisAaron Shileikis
University of Colorado at Boulder
Aerospace Engineering
Fall 2003
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Presentation OutlinePresentation OutlineRFA’s and Changes since PDRRFA’s and Changes since PDRSystem ArchitectureSystem ArchitectureSubsystems Design ElementsSubsystems Design Elements AnalysisAnalysis Mechanical DesignMechanical Design Electrical DesignElectrical Design Subsystems Testing & VerificationSubsystems Testing & Verification
Integration PlanIntegration PlanVerification & Test PlanVerification & Test PlanProject Management PlanProject Management Plan
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RFA’sRFA’s
Request for Action (RFA)Request for Action (RFA) Requested ByRequested By ReplyReply
Double Pressure Hull DesignDouble Pressure Hull Design Dr. MauteDr. MauteManufacturing Limits &Manufacturing Limits &Limited Internal VolumeLimited Internal Volume
Required Range & Required Range & Mission Goal Clarification Mission Goal Clarification Dr. LawrenceDr. Lawrence
Clarified Mission Goals & Range Clarified Mission Goals & Range addressed in Objectives Overview & addressed in Objectives Overview &
Test SectionTest Section
Top Speed Test LocationTop Speed Test Location Dr.PetersonDr.PetersonLowered Top Speed and Determined Lowered Top Speed and Determined
LocationLocation
Detailed Monetary BudgetDetailed Monetary Budget Dr.PetersonDr.PetersonDetailed Budget addressed in Project Detailed Budget addressed in Project
Management PlanManagement Plan
Battery SpecificationsBattery Specifications Trudy SchwartzTrudy SchwartzSubsystem's Battery Specifications Subsystem's Battery Specifications
addressed in Electrical Designaddressed in Electrical Design
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Overview of ObjectivesOverview of Objectives
Objectives SummaryObjectives Summary 3-axis High Speed Manueverability3-axis High Speed Manueverability
Low Drag, High Speed & Long RangeLow Drag, High Speed & Long Range 3-axis Low Speed Manueverability3-axis Low Speed Manueverability
Active BuoyancyActive BuoyancyYaw Rotation and StrafingYaw Rotation and Strafing
Small SizeSmall SizeNavigation of Challenging ObstaclesNavigation of Challenging ObstaclesEase of Deployment LogisticsEase of Deployment LogisticsEase of ManufacturingEase of Manufacturing
Specifications Derived from Facility, Monetary & Volume Specifications Derived from Facility, Monetary & Volume Limitations and Subsystems RequirementsLimitations and Subsystems Requirements
Detailed Final Objective in Verification & Testing SectionDetailed Final Objective in Verification & Testing Section
Mission StatementMission Statement The main objective for team RAV is to conceive, design, fabricate, integrate, The main objective for team RAV is to conceive, design, fabricate, integrate,
verify and test a versatile proof of concept for a remotely controlled aquatic verify and test a versatile proof of concept for a remotely controlled aquatic vehicle capable of both high speed, long range and low speed, short range vehicle capable of both high speed, long range and low speed, short range maneuverability in challenging aquatic environments.maneuverability in challenging aquatic environments.
Test Illustration at Carlson Pool
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Overview of RequirementsOverview of RequirementsStructure Structure
Pressure rated to 44 psi (20m Depth)Pressure rated to 44 psi (20m Depth)
BuoyancyBuoyancy Functional to 66 ft. (20 m)Functional to 66 ft. (20 m) RC Controllable to 2ft* DepthRC Controllable to 2ft* Depth Ascent/Descent Rate of 0.5 ft/sec*Ascent/Descent Rate of 0.5 ft/sec*
PropulsionPropulsion 5 knots5 knots ReversibleReversible Variable speedVariable speed
Low Speed Maneuvering (LSM)Low Speed Maneuvering (LSM) Rotation Rate of 0.33 rev/min*Rotation Rate of 0.33 rev/min* Minimal Drag during High Speed ManeuveringMinimal Drag during High Speed Maneuvering
*changed from PDR
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Overview of Mechanical DesignOverview of Mechanical Design
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Overview of Electrical DesignOverview of Electrical Design
Subsystems
Battery(12V)
HOBO
PressureTransducer
Anemometer
Battery (24V) Speed Control Motor
BuoyancyMotor
LSM ControlBuoyancyControl
LSM Jets
ReceiverBattery
Receiver
Servos
Battery(12V)
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Subsystems Design ElementsSubsystems Design Elements
Hydrodynamics & StructureHydrodynamics & Structure
BuoyancyBuoyancy
PropulsionPropulsion
LSMLSM
CommunicationCommunication
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Hydrodynamic & Structural AnalysesHydrodynamic & Structural AnalysesFluid Mechanics
Subsystem Design
5 Knot Speed Goal20 Meter Depth Goal
(45 psi)Lower Cost &
Ease of Procurement
Minimize Drag Testable Sealing
MachineIn-House
See additional chart
Aluminum Hull
Hyperbaric Chamber
Acrylic NoseCone
Stress Analysis
CSU Chamber
6" OuterDiameter
Aluminum TailSection
PressureTransducer &
HOBO
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Drag Reduction FlowchartDrag Reduction FlowchartGoal:
Minimize Drag
HydroBuff Shape
Decrease # ofControl Surfaces
High SpeedTrimmability
Trim Verticallyif CB is off
Trim Laterallyif CG is not on
centerline
DecreaseOuter Diameter
MyringHull Contour
Aluminum Airfoils NACA 0012 3" X 3"
Alreco Aluminum
6" Outer Diameter
Aluminum Hulldue to Availability
Sealing Servo Specs
1 mOverall Length
Nose Cone andTail Piece Shapes
Use of Shroud
FINAL DRAGCOMPUTATION
From Propulsion
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Hull DesignHull DesignMyring Hull Contour Design [H1]Myring Hull Contour Design [H1]3 compartments:3 compartments:
NoseconeNosecone Mid-sectionMid-section TailpieceTailpiece
Max outer diameter ≤ 6 in. Max outer diameter ≤ 6 in. Tailpiece Machining LimitationTailpiece Machining Limitation
Aluminum 6061 Mid SectionAluminum 6061 Mid Section Availability, Machinability, Cost Availability, Machinability, Cost
& Strength& Strength
Mid-section Mid-section 24 in. long x 1/8 in. thick24 in. long x 1/8 in. thick Maximum Internal VolumeMaximum Internal Volume
Mid-Section Passes Structural Mid-Section Passes Structural Compression Test Compression Test
Myring Hull Contour [H1]
RAV Design
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Nose Cone & Tailpiece DesignNose Cone & Tailpiece DesignNose Cone & Tailpiece designed Nose Cone & Tailpiece designed using Myring Hull Contour Shapeusing Myring Hull Contour Shape
Nosecone: 6 in. longNosecone: 6 in. long Tailpiece: 12 in. longTailpiece: 12 in. long
Nose Cone constructed of acrylicNose Cone constructed of acrylic Machine Shop Surplus of Machine Shop Surplus of
acrylicacrylic Future Camera UseFuture Camera Use
Decreased Outer Diameter ≤ 6 in.Decreased Outer Diameter ≤ 6 in. Tailpiece machinable “in-Tailpiece machinable “in-
house”house”Aluminum 6061 TailpieceAluminum 6061 Tailpiece
Dissipate Heat from MotorDissipate Heat from MotorFinal Total DragFinal Total Drag
16.1 N at 5 knots 16.1 N at 5 knots Antenna deployed at 6 in. Antenna deployed at 6 in. RAV Nose Cone
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Control Surface DesignControl Surface DesignControl Surfaces for TrimmingControl Surfaces for Trimming
Dive Planes size determined by Dive Planes size determined by Force difference between CB & Force difference between CB & CGCG
Rudder size determined by force Rudder size determined by force from CG displacement from from CG displacement from centerlinecenterline
4 Uniform Control Surfaces 4 Uniform Control Surfaces Identical Design due to Horizontal Identical Design due to Horizontal
and Vertical Trim Requirementsand Vertical Trim Requirements Manufacturing EaseManufacturing Ease
4 Individual Servo’s4 Individual Servo’s Motor Interference & AccessibilityMotor Interference & Accessibility Future Roll ControlFuture Roll Control
Ideal Airfoil Ideal Airfoil Drag Polar EquationDrag Polar Equation Short ChordShort Chord Long SpanLong Span RAV Tail Piece & Control Surfaces
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Control Surface Sizing ConclusionsControl Surface Sizing Conclusions
Selected NACA 0012 airfoil Selected NACA 0012 airfoil Chord: 3 in.Chord: 3 in. Span: 3 in. longSpan: 3 in. long 1/8 in. servo shaft 1/8 in. servo shaft
Control surfaces & servo shaftControl surfaces & servo shaft Aluminum - excellent strength to weight ratios.Aluminum - excellent strength to weight ratios.
Servo selectionServo selection 15 deg. Control Surface deflection in 0.5 sec15 deg. Control Surface deflection in 0.5 sec Torque required 20.95 oz-inTorque required 20.95 oz-in Rated to 44.0 oz-inRated to 44.0 oz-in
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Control Surface Sealing DesignControl Surface Sealing DesignWithstand Pressure = 45.0 psiWithstand Pressure = 45.0 psiDynamic SealsDynamic Seals
Low Friction Servo MovementLow Friction Servo MovementSCLS Brass Linkage SealSCLS Brass Linkage Seal
Small 0.39 in. x 0.59 in. lengthSmall 0.39 in. x 0.59 in. length Contains an O-ring to prevent Contains an O-ring to prevent
water seepagewater seepageSeal will be pressed into tail Seal will be pressed into tail section and sealed with epoxy to section and sealed with epoxy to ensure no pressure leakageensure no pressure leakage1/8 in. diameter stainless steel 1/8 in. diameter stainless steel shaft will pass from servo to shaft will pass from servo to control surfacecontrol surface
Coupler will be used to attach Coupler will be used to attach servo to shaftservo to shaft
Pins will be used to attach shaft Pins will be used to attach shaft to control surfaceto control surface
Control Surface Sealing Design
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Structural Verification and Test PlanStructural Verification and Test PlanPressure/Sealing Verification Pressure/Sealing Verification
Description:Description: Verify entire assembly can withstand pressures of ~45psi (20m depth) without leaking using a Verify entire assembly can withstand pressures of ~45psi (20m depth) without leaking using a
hyperbaric chamber. Accomplished by measuring pressure change inside.hyperbaric chamber. Accomplished by measuring pressure change inside.Location:Location: CSU hyperbaric chamber CSU hyperbaric chamber
Written confirmation obtained from Dr. Alan TuckerWritten confirmation obtained from Dr. Alan TuckerMethod and Measurements:Method and Measurements:
Increase pressure in hyperbaric chamber Increase pressure in hyperbaric chamber Record pressure change inside hullRecord pressure change inside hull Test will be run at 45 psi for 30 minutes to correspond to the maximum amount of time the Test will be run at 45 psi for 30 minutes to correspond to the maximum amount of time the
sub will be in the water for the Final Full-Systems Integrated Test.sub will be in the water for the Final Full-Systems Integrated Test. Tests indicating pressure changes ≤ 0.2 psi will be considered a successTests indicating pressure changes ≤ 0.2 psi will be considered a success If failure occurs at ~45 psi it will be run again at 20 psi to ensure no leakage during pool If failure occurs at ~45 psi it will be run again at 20 psi to ensure no leakage during pool
teststestsAnalysis:Analysis:
Pressure vs. Time inside and outside hullPressure vs. Time inside and outside hull Any pressure change greater than 0.2 psi indicates leakageAny pressure change greater than 0.2 psi indicates leakage
Sensors:Sensors: PX236 Pressure Transducer (Omega) PX236 Pressure Transducer (Omega) Range: 0 – 60 psiRange: 0 – 60 psi Bandwidth: 2 HzBandwidth: 2 Hz Resolution: 0.1 psiResolution: 0.1 psi Accuracy: +/- 1.5%Accuracy: +/- 1.5%
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BuoyancySubsystem Design
Overall Weight &Volume35 lbs
1034 cu3
Ascent/Decent Rate0.5 ft/s
Operational Depth20 m
System Volume500 mL
Cylinder Length5 in
Inner Diameter2 in
Overall Size8.5" x 2.25"
Mass Flow Raterequired Mdot = 1.57 kg/s
@max rpm 11.64 kg/s
Pressure Force onPiston @20 m
139 lbf
Motor SelectionSmall Johnson Motor
Stall Torque = 78.7 oz-inForce Produced on Piston Head = 141 lbf
Buoyancy AnalysisBuoyancy Analysis
Inputs:
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Buoyancy Mechanical DesignBuoyancy Mechanical DesignJohnson Electric Motor (12V)Johnson Electric Motor (12V)
High rpm (16,000 rpm@12V)High rpm (16,000 rpm@12V) Lightweight (7.50 oz per motor)Lightweight (7.50 oz per motor)
Alexander Engel Gear SetAlexander Engel Gear Set Proven for piston systemsProven for piston systems
Threaded Piston RodThreaded Piston Rod 6 mm 6 mm
Piston HeadPiston Head AluminumAluminum Machined in-houseMachined in-house
CylinderCylinder AluminumAluminum Machined in-houseMachined in-house ID x OD x thickness:ID x OD x thickness:
2” x 2.25” x 0.125”2” x 2.25” x 0.125”
BatteriesBatteries 4 DuraTrax Receiver NiCd Flat Pack 6 Volt 4 DuraTrax Receiver NiCd Flat Pack 6 Volt 2200mAh (600mAh required per motor) 2200mAh (600mAh required per motor) Length x Width x Height: Length x Width x Height:
3-1/4“ x 1-3/4“ x 5/8"3-1/4“ x 1-3/4“ x 5/8" Weight: 4.8 ozWeight: 4.8 oz
SealingSealing Precision Associates Inc.Precision Associates Inc. Piston Head SealPiston Head Seal
75-1.84075-1.840 1.84” ID x 0.075” C/S x 2.0” 1.84” ID x 0.075” C/S x 2.0” ODOD
End Cap SealEnd Cap Seal25-23725-237 0.237” ID x 0.025” C/S 0.237” ID x 0.025” C/S x .287” ODx .287” OD
Buoyancy Tanks
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Buoyancy Electrical DesignBuoyancy Electrical Design
Ballast Tank switch (BTS-II)Ballast Tank switch (BTS-II) Proven system for remote Proven system for remote
submarinessubmarines Electronic (no servos)Electronic (no servos) Connects directly to Connects directly to
ReceiverReceiverStop-full micro switchStop-full micro switchStop-empty micro switchStop-empty micro switchTrim switchTrim switch
Buoyancy Electrical Schematic
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Buoyancy Verification & Test PlanBuoyancy Verification & Test PlanStatic Motor Strength Test (Feb 7Static Motor Strength Test (Feb 7thth))
Verify System Produces force to operate at a depth of 20mVerify System Produces force to operate at a depth of 20m Horizontal Load CellHorizontal Load Cell
Resolution: 1 lbResolution: 1 lbRange: 50 lb – 400 lbRange: 50 lb – 400 lbAccuracy: +/- 1 lbAccuracy: +/- 1 lb
Expected Results: 141 lb forceExpected Results: 141 lb force Requirements: 140 lb forceRequirements: 140 lb force
Buoyancy Subsystem Test (April 5Buoyancy Subsystem Test (April 5thth))
Verify descent and ascent rateVerify descent and ascent rate Antenna Marking w/ StopwatchAntenna Marking w/ Stopwatch
Range: 0 – 6 ftRange: 0 – 6 ftResolution: 0.5 ftResolution: 0.5 ft
Expected Results: 3.0 ft/secExpected Results: 3.0 ft/sec Minimum Requirement: 0.5 ft/secMinimum Requirement: 0.5 ft/sec
Overall System Test (April 12Overall System Test (April 12thth))Verify system remains neutrally buoyant at given depthVerify system remains neutrally buoyant at given depth
PX236 Pressure TransducerPX236 Pressure Transducer
Range: 0 – 60 psiRange: 0 – 60 psiBandwidth: 2 HzBandwidth: 2 HzResolution: 0.1 psiResolution: 0.1 psiAccuracy: +/- 1.5%Accuracy: +/- 1.5%
Expected Results: 3.0 ft/sec with neutral buoyancy (< 0.2 psi change)Expected Results: 3.0 ft/sec with neutral buoyancy (< 0.2 psi change) Minimum Requirement: 0.5 ft/sec with 1 minute neutral buoyancyMinimum Requirement: 0.5 ft/sec with 1 minute neutral buoyancy
[B1]
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Propulsion AnalysisPropulsion AnalysisPropulsion
Design
SpeedRequirementV = 5 knots
Drag33 N
Pitch6 inches
RPM1576
Safety Factor of 1.5V = 7.5 knots
Motor SelectionBN28-36AF-01LH
210-262 W
Power = D * V
SystemComponent
Inefficiencies
System PowerOut Required
187 W
Required Amps9 A
Required Duration90 sec/test
Number of Tests10
Required mAh2200 mAh
OperationalVoltage
24 V
Battery TypeNiMH 2600 mAh
20 Cells
1.2 V/cell
ControllerBDO-Q2-50-18
2600 mAh/cell
Efficiency Motor0.80
Efficiency Propeller0.85
Efficiency Battery0.90
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Propulsion Mechanical DesignPropulsion Mechanical DesignMajor ComponentsMajor Components
Motor Motor BN28-36AF-01LHBN28-36AF-01LHDimensionsDimensions
Diameter = 2.25 inchDiameter = 2.25 inch Length = 3.6 inchLength = 3.6 inch
Weigh: 46 ozWeigh: 46 oz Controller Controller
BDO-Q2-50-18BDO-Q2-50-18DimensionsDimensions
L = 6.69 inchL = 6.69 inch W = 3.54 inch W = 3.54 inch H = 1.73 inch H = 1.73 inch
Weight: 13.76 ozWeight: 13.76 oz NiMH BatteriesNiMH Batteries
20 Cells20 Cells1.2 V/cell1.2 V/cell2600 mAh2600 mAh
ShaftShaftHardened steelHardened steelDictated by rotary shaft seal Dictated by rotary shaft seal requirementsrequirements
PropellerPropeller5.1 inch diameter5.1 inch diameter6.0 inch pitch6.0 inch pitch
Shroud (specs)Shroud (specs)Max outer diameter: 5.5 inchesMax outer diameter: 5.5 inchesMin outer diameter: 5.22 inchesMin outer diameter: 5.22 inchesMax inner diameter: 5.3 inchesMax inner diameter: 5.3 inchesMin inner diameter: 4.62 inchesMin inner diameter: 4.62 inchesComplex contourComplex contour
Mounting, accessoriesMounting, accessories MountingMounting
Motor to tailMotor to tailShroud to tailShroud to tailController and batteriesController and batteries
BearingBearingBall bearing, double Ball bearing, double shieldedshieldedOuter diameter: 5/8 inchOuter diameter: 5/8 inchInner diameter: 1/4 inchInner diameter: 1/4 inch22ndnd point of contact for point of contact for stabilitystability
Rated to 52,300 Rated to 52,300 RPMRPM
Bal Rotary Shaft SealBal Rotary Shaft Seal71x model71x model
60 psi60 psi 12,030 RPM12,030 RPM
Splined shaftSplined shaftSimplify assemblySimplify assembly
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Propulsion Electrical DesignPropulsion Electrical Design
Closed loop feedback systemClosed loop feedback system
BN28-36AF-01LHBDO-Q2-50-18
InputPotentiometer
ServoAmplifier
Servomotor Propeller
Encoder
e
volts
b
volts
r
volts
m
volts
c
radians
v
InputTransducer Controller Plant Load
FeedbackElements
-
+
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Propulsion Velocity TestPropulsion Velocity TestCU Carlson PoolCU Carlson Pool
Diagonal will be usedDiagonal will be usedProgressive testingProgressive testing
TrimTrim Increasingly fasterIncreasingly faster
< 20 m to accelerate to 5 knots, 2.75 m/s< 20 m to accelerate to 5 knots, 2.75 m/s Required acceleration: 0.134 m/sRequired acceleration: 0.134 m/s22
Sensors: Extech Mini-AnemometerSensors: Extech Mini-Anemometer Range: 0.5 - 54.3 knotsRange: 0.5 - 54.3 knots Bandwidth: 3 HzBandwidth: 3 Hz Resolution: 0.3 knotsResolution: 0.3 knots Accuracy: +/-(3% rdg+0.6 knots)Accuracy: +/-(3% rdg+0.6 knots)
Data CollectedData Collected Distance vs. timeDistance vs. time Velocity vs. timeVelocity vs. time
Controlled VariablesControlled Variables Input voltage Input voltage
22.86 m
9.14 m
24.62 m
Safety Net
R A
V
Pool Testing Diagram
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LSM AnalysisLSM AnalysisSystem designSystem design
4 synthetic vortex jets actuated 4 synthetic vortex jets actuated by solenoidsby solenoids
8 jet configuration as 8 jet configuration as alternativealternative
Aluminum mount and solenoid Aluminum mount and solenoid housinghousingPermanently attached mount Permanently attached mount Detachable housingDetachable housingLatex diaphragmLatex diaphragmO-ring sealsO-ring sealsCircuit for controlCircuit for control12V NiMH Batteries12V NiMH Batteries
Design Requirements1/3 rpm
Placement / Moment Arm
Solenoid Selectionto Meet Moment
Optimize
Design Mechanical System Volume(Mount/cavity, housing)
Final Design
LSM SubsystemDesign
Drag Analysis /Modeling Equation
Improve Design
Attach Filmto Return Stroke
Sealing
Decrease Size ofSolenoid Housing
Air Bubble Escape
Verify Equation with4" Model Sub Testing
Accurate ModelingEquation for Prediction
Integrate and Test
Choose Exit HoleDiameter
Choose Frequency
Test & Verify
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LSM Drag ModelLSM Drag Model
Drag model for 4” diameter sub with 7” Drag model for 4” diameter sub with 7” moment arm to rotate 2/3 rpmmoment arm to rotate 2/3 rpmRequired Thrust = 0.0321 NRequired Thrust = 0.0321 NRequired Moment = 0.5311 N*cmRequired Moment = 0.5311 N*cm4” sub test results:4” sub test results:Exp Moment = 0.4896 N*cmExp Moment = 0.4896 N*cmError = 7.8 %Error = 7.8 %
Drag model for 6” diameter sub with 9” Drag model for 6” diameter sub with 9” moment arm to rotate 2/3 rpm (SF2)moment arm to rotate 2/3 rpm (SF2)Required Thrust = 0.2952 NRequired Thrust = 0.2952 NRequired Moment = 5 N*cmRequired Moment = 5 N*cm
Drag model for 6” diameter sub with 9” Drag model for 6” diameter sub with 9” moment arm to rotate 1/3 rpmmoment arm to rotate 1/3 rpmRequired Thrust = 0.0841 NRequired Thrust = 0.0841 NRequired Moment = 1.523 N*cmRequired Moment = 1.523 N*cm
0 500 1000 1500 2000 25001
2
3
4
5
6Cd vs. Re for a Cylinder
Reynolds Number
Coe
f of
Dra
g
0 2 4 6 8 10 12 140
1
2
3
4
5
6Cd and Velocity from Center (0) to Edge of Cylinder
Length(inches)
Coe
f. o
f D
rag
CdVelocity
0 2 4 6 8 10 12 140
1
2
3
4
5
6
7
8x 10
-3 Moment from Center (0) to Edge of Cylinder
Length(inches)
Mom
ent
(N*c
m)
[LSM1]
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LSM AnalysisLSM Analysis
Jet theoryJet theory L / D = 4L / D = 4 Displaced volume (V1) = Exit Displaced volume (V1) = Exit
volume (V2)volume (V2) Thrust provided by jetThrust provided by jet
Required moment = 5 N*cm / Required moment = 5 N*cm / jetjetMoment vs. Frequency for Moment vs. Frequency for various exit diametersvarious exit diametersRequirements for 0.6” exit Requirements for 0.6” exit diameter to rotate 2/3 rpm:diameter to rotate 2/3 rpm:
Minimum frequency of 32HzMinimum frequency of 32Hz Stroke length of 0.38”Stroke length of 0.38”
D (Exit Diameter)
LV2
V1
L/D=4
5 10 15 20 25 30 35 40 45 500
1
2
3
4
5
6
7
8
9
Thrusting Moment vs. Frequency
Frequency (Hz)
Mom
ent
(N*c
m)
Exit Diameter = 0.5 inExit Diameter = 0.55 inExit Diameter = 0.6 inExit Diameter = 0.65 in
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LSM Solenoid SelectionLSM Solenoid Selection
Soft-Shift SolenoidSoft-Shift Solenoid Slow, smooth motion with Slow, smooth motion with
high starting forcehigh starting force Return spring availableReturn spring available
Solenoid selection based Solenoid selection based on:on:
Size: 1.875” x 1.935”Size: 1.875” x 1.935” Stroke: 0.400 ± 0.030”Stroke: 0.400 ± 0.030” Typical frequency at 50% Typical frequency at 50%
duty cycle = 35 Hzduty cycle = 35 HzStroke length deteriorates Stroke length deteriorates as frequency increasesas frequency increases
[LSM2]
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LSM Mechanical DesignLSM Mechanical DesignSolenoidSolenoid
Spring loaded, Soft ShiftSpring loaded, Soft Shift 12V, 24W at 50% duty cycle12V, 24W at 50% duty cycle Max frequency of 58HzMax frequency of 58Hz .44 lbs.44 lbs
HousingHousing Aluminum or PVCAluminum or PVC 0.35 lbs0.35 lbs
PlungersPlungers 2 mm thick2 mm thick
MountMount Aluminum (Welded to Hull)Aluminum (Welded to Hull) 0.27 lbs0.27 lbs
SealingSealing O-rings (not shown)O-rings (not shown)
Overall Weight ~1.06 lbs (excluding Overall Weight ~1.06 lbs (excluding control circuit)control circuit)Final design pending (Exit Diameter) Final design pending (Exit Diameter) based on testing and optimizationbased on testing and optimization
Mount
Plunger
Housing
Solenoid
LSM Exploded View
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LSM Electrical DesignLSM Electrical Design
ControlControl Electronic RC switchElectronic RC switch Oscillator CircuitOscillator Circuit
PowerPower 12V at 1500 mAh/jet12V at 1500 mAh/jet NiMH batteriesNiMH batteries
[LSM3] RSGEX RC Switch
+12V
1Gnd2Trg3Out4Rst 5Ctl6Thr7Dis8Vcc
555
+
CT
+
C1.01uF
RA1k
RB20k
Oscillator Circuit
Oscillator Circuit
Receiver
Battery (12V)
RSGEX RCSwitch
Left Turning Jets Right Turning Jets
Oscillator Circuit
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LSM Verification and Test PlanLSM Verification and Test PlanSpin Rate Verification an OptimizationSpin Rate Verification an Optimization
Description:Description: Verify theoretical drag model with 4” sub.Verify theoretical drag model with 4” sub.Using PVC model of RAV, different exit diameters and frequencies will be input, Using PVC model of RAV, different exit diameters and frequencies will be input,
while the resulting rotational speed will be measured. while the resulting rotational speed will be measured. Optimal exit diameter and frequency will be verified for final design.Optimal exit diameter and frequency will be verified for final design.
Location:Location: CU Carlson Pool CU Carlson Pool
Measurements and method:Measurements and method: Visually record and determine rotation rate Visually record and determine rotation rate
Analysis:Analysis: Plot rotational speed vs. frequency and exit diameterPlot rotational speed vs. frequency and exit diameter Choose frequency and exit diameter which provide optimal thrust if different than Choose frequency and exit diameter which provide optimal thrust if different than
theoretical modeltheoretical modelExpectations:Expectations:
Jets will be optimal for an exit diameter of 0.6”Jets will be optimal for an exit diameter of 0.6” Minimal frequency of actuation at 32 Hz Minimal frequency of actuation at 32 Hz
Sensors:Sensors: Digital camcorder and stop watchDigital camcorder and stop watch
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LSM Verification & Test PlanLSM Verification & Test Plan
Controlled VariablesControlled Variables:: Exit diameter Exit diameter FrequencyFrequency
ResultantsResultants:: Moment generated by Moment generated by
jetsjets
Predictions:Predictions: Optimal exit diameter of Optimal exit diameter of
0.6”0.6” Minimum frequency of Minimum frequency of
32 Hz32 Hz
LSM Test MatrixTest Frequency (Hz) Diameter (in) Expected Moment (N*cm) Resulted Moment (N*cm)
1.1 10 0.5 0.1651.2 15 0.5 0.3721.3 20 0.5 0.6611.4 25 0.5 1.0331.5 30 0.5 1.4881.6 35 0.5 2.0252.1 10 0.55 0.2932.2 15 0.55 0.6592.3 20 0.55 1.1722.4 25 0.55 1.8312.5 30 0.55 2.6362.6 35 0.55 3.5883.1 10 0.6 0.4943.2 15 0.6 1.1113.3 20 0.6 1.9753.4 25 0.6 3.0863.5 30 0.6 4.4433.6 35 0.6 6.0484.1 10 0.65 0.2594.2 15 0.65 0.5824.3 20 0.65 1.0344.4 25 0.65 1.6164.5 30 0.65 2.3274.6 35 0.65 3.167
333303 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Communication AnalysisCommunication Analysis
AntennaeDesign
Attenuation ofWater
Power GainReciever
FrequencySelection
Antennae Drag
Attenuation ofAir
Range
StructuralAnalysis
Refraction Index
RC controllerPower out ¾ W
343403 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Communication DesignCommunication DesignFutaba 8UAPS/8UAFS and matching FP-R148DP Receiver (FM/PCM 1024)Futaba 8UAPS/8UAFS and matching FP-R148DP Receiver (FM/PCM 1024)
Free Loan from Aerobotics Research Laboratory – Budget ConstraintsFree Loan from Aerobotics Research Laboratory – Budget Constraints 8 Channels Available, RAV requires 78 Channels Available, RAV requires 7 0.75 W output0.75 W output Receiver Power Gain UnknownReceiver Power Gain Unknown 72.330 MHz, ¼ wavelength whip antenna = 3.23 ft. long72.330 MHz, ¼ wavelength whip antenna = 3.23 ft. long
Signal Loss at 72.330 MHzSignal Loss at 72.330 MHz Refraction Loss = 53.00 dBRefraction Loss = 53.00 dB Attenuation of Chlorinated Water = ~300 dB/mAttenuation of Chlorinated Water = ~300 dB/m
Conductivity varies with Chlorine Concentration (Avg Value = 200 µMhos/cm)Conductivity varies with Chlorine Concentration (Avg Value = 200 µMhos/cm)
Antenna DesignAntenna Design ¼ wavelength vertical antenna¼ wavelength vertical antenna Fiberglass Antenna Mast = 2ft. X 1/8 in.Fiberglass Antenna Mast = 2ft. X 1/8 in.
Static SealStatic SealAntenna Rise above Surface to avoid LossesAntenna Rise above Surface to avoid LossesRun Propulsion Subsystems Test 6 in. below surfaceRun Propulsion Subsystems Test 6 in. below surfaceRun to 75% Underwater Fail-Safe Depth for Full-Systems Integrated Test (if Tested)Run to 75% Underwater Fail-Safe Depth for Full-Systems Integrated Test (if Tested)
Antenna DragAntenna Drag14.41 N at 7.5 knots14.41 N at 7.5 knots6.40 N at 5.0 knots6.40 N at 5.0 knots
Antenna Bending MomentAntenna Bending Moment ConclusionConclusion
R/C not ideal for actual end goal – sufficient for Proof of ConceptR/C not ideal for actual end goal – sufficient for Proof of Concept
353503 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Communication Test PlanCommunication Test Plan
Range TestRange Test Move away from RAV until Fail Safe InitiatesMove away from RAV until Fail Safe Initiates
Distance Step FunctionDistance Step Function Stretch Goal - Repeat with RAV UnderwaterStretch Goal - Repeat with RAV Underwater
Quantify Receiver Power GainQuantify Receiver Power Gain
Quantify Antenna Design ParametersQuantify Antenna Design Parameters
363603 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Data AcquisitionData Acquisition
HOBO H8 4-Channel data loggerHOBO H8 4-Channel data logger 32K 32K External Input Channel Measurement Range: External Input Channel Measurement Range:
0-2.5 DC Volts0-2.5 DC Volts External Input Channel Accuracy: ±10 mV External Input Channel Accuracy: ±10 mV
±3% of reading±3% of reading
Boxcar software for analysisBoxcar software for analysis
373703 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Integration PlanIntegration PlanDrawing TreeDrawing TreePurchased & Fabricated PartsPurchased & Fabricated PartsAssembly Flow DiagramAssembly Flow Diagram
Order in which parts go togetherOrder in which parts go together
Functional Test Plan (Subsystems Test Plans!!)Functional Test Plan (Subsystems Test Plans!!) Test PartsTest Parts Test AssembliesTest Assemblies
Identify Critical Path ElementsIdentify Critical Path Elements LSM TestingLSM Testing Propulsion OrderingPropulsion Ordering Nosecone & Tailpiece ManufacturingNosecone & Tailpiece Manufacturing Facility AccessFacility Access Hyperbaric TestingHyperbaric Testing
Leak TestingLeak Testing Buoyancy Static TestBuoyancy Static Test
383803 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Drawing Tree - SampleDrawing Tree - Sample
393903 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Buoyancy
Buoy Testing
Buoy Testing
Hull Manu
Hull / Buoy
Hull / Buoy
Integration
Buoyancy
Tail
Tail
Tail
Main Flange /Seals
Main Flange /Seals
Main Flange /Seals
Nose
Nose
Integration
Tail
Buoyancy
Control Seals
Control Seals
Control Seals
Payload Tray
Payload Tray
Payload Tray
Shroud
Integration
Buoyancy
Buoyancy
Control Seals
Control Seals
Control Seals
Antenna
Antenna
Integration
Buoyancy
Tail
Tail
Tail
Motor Seal &Shaft
Motor Seal &Shaft
Motor Seal &Shaft
Integration
Tail
LSM Testing
LSM Manu
LSM Manu
LSM Manu
LSM Manu
LSM Manu
Integration
LSM Testing
LSM Testing
LSM Manu
LSM Manu
LSM Manu
LSM Circuit
LSM Circuit
Integration
LSM Testing
Assembly Flow DiagramAssembly Flow Diagram
404003 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Verification and Test PlanVerification and Test PlanFull Integration Test Plan DescriptionFull Integration Test Plan Description
At point A, dive to depth of 2.5 ft (0.5 ft/sec)At point A, dive to depth of 2.5 ft (0.5 ft/sec)Remain Buoyant for 2 minRemain Buoyant for 2 minAccelerate to 3 knots and stop at point BAccelerate to 3 knots and stop at point BRotate counterclockwise 90° (45 sec)Rotate counterclockwise 90° (45 sec)Accelerate to 2 knots and stop at point CAccelerate to 2 knots and stop at point CRotate clockwise 270° (2.25 min)Rotate clockwise 270° (2.25 min)Arrive at point D by maneuvering around Arrive at point D by maneuvering around obstacles using Buoyancy and LSMobstacles using Buoyancy and LSMRotate counterclockwise 90° (45 sec)Rotate counterclockwise 90° (45 sec)Return to point A and surface using buoyancyReturn to point A and surface using buoyancyRepeat TestingRepeat Testing
Test Time = 10 min/LapTest Time = 10 min/Lap
LocationLocationCU Carlson PoolCU Carlson Pool
414103 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Verification & Test Plan Verification & Test Plan
Expectations:Expectations: All subsystems tests will be verified on fully integrated All subsystems tests will be verified on fully integrated
SubSub Top speed of 5 knotsTop speed of 5 knots Demonstrate active buoyancyDemonstrate active buoyancy Rotational speed of 1/3 rpmRotational speed of 1/3 rpm
SensorsSensors Depth (Active Buoyancy)Depth (Active Buoyancy)
PX236 pressure transducerPX236 pressure transducer SpeedSpeed
Extech mini-anemometer Extech mini-anemometer Rotational SpeedRotational Speed
Digital camcorder and stopwatchDigital camcorder and stopwatch
424203 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Project Management PlanProject Management Plan
Organizational ResponsibilitiesOrganizational Responsibilities
Work Breakdown StructureWork Breakdown Structure
ScheduleSchedule
BudgetBudget
Specialized Facilities & ResourcesSpecialized Facilities & Resources
434303 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Organization ChartOrganization Chart
RAV Team
Systems EngineerSteve Nauman
Project ManagerAaron Shileikis
AdvisorDr. Kamran Mohseni
AdvisorDr. Scott Palo
Webpage ManagerKevin DiFalco
Chief Financial OfficerJaclyn Poon
Safety EngineerDan Hunt
Structures Group Electronics Group Controls Group
External Structure &Fluid Mechanics
Matt Allgeier
Internal Structure &BuoyancyDan hunt
CommunicationsAaron Shileikis
Data Acquistion &InstrumentationDerrick Maestas
Low Speed ManeuverabilityJaclyn Poon
PropulsionKevin DiFalco
444403 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Work Breakdown StructureWork Breakdown StructureRAV Team
1.0 Project Management
2.0 Systems Engineering
3.0 Design 4.0 Fabrication 5.0 Integration6.0 Verification
& Testing7.0 Technical
Report
7.1 PDD
7.2 PDR
7.3 CDR
7.4 Final Report
1.1 Organization & Division of Labor
1.2 Work Breakdown Structure
1.3 Schedule
1.5 Budget
1.6 Specialized Facilities & Resources
1.7 Information Nodes
3.1 Fluid Mechanics & External Structure
3.2 Buoyancy
3.3 Communications
3.4 Data Acquisition & Instrumentation
3.5 Low Speed Maneuverability
3.6 Propulsion
6.1 Data Acquisition & Instrumentation Testing
6.2 Communications Testing
6.3 Hyperbaric Chamber & Leak Testing
6.4 Buoyancy Testing
6.5 Propulsion Testing
6.6 LSM Testing
5.2 Nose
5.3 Tail
5.4 Hull
6.7 Full Systems Testing
5.1 Sub-Assemblies4.1 External Structure
4.2 Buoyancy Subsystem
4.3 Propulsion Subsystem
2.1 Project Objectives
2.2 Design Integration
4.4 LSM Subsystem
2.3 CAD Drawings
2.4 Internal Configuration
2.5 External Configuration
1.4 Task Management
2.6 Mass & Power Budget
454503 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
MS Project ScheduleMS Project ScheduleID Task Name Duration
1 Project Goals 6 days?
2 Test Plan 8 days?
3 PDD 9 days?
4 Trade Studies 12 days?
5 Design Issues & Risks 12 days?
6 Design to Specs 5 days?
7 PDR 21 days
8 PDR Revisions 10 days?
9 Off-Ramps 4 days?
10 Final Risk Assessments 4 days?
11 Design Loop 38 days?
12 Design & Analysis 48 days?
13 Component List 10 days?
14 Drawing Tree 45 days?
15 Design & Analysis Integration 2 days?
16 Procurement Schedule 2 days?
17 Drawings & Elec Diagrams 11 days?
18 CDR Draft 12 days?
19 CDR 21 days?
20 CDR Revisions 3 days?
21 Report Outline 3 days?
22 Design & Analysis Integration 4 days?
23 Draft Document 5 days?
24 Final Document 9 days?
25 Technical Report 10 days?
26
27 Spring 2004 0 days
28
29 Procurement 31 days?
30 Order 5 days?
31 Receive 31 days?
32 Fabrication 39 days?
33 Fabrication Procedures 1 day?
34 Integration 5 days?
35 Integration Procedures 1 day?
36 Verification 5 days
37 Verification Procedures 1 day?
38 Testing 12 days?
39 Testing Procedures 1 day?
40 Technical Report 15 days?
0%
0%
100%
0%
0%
0%
100%
0%
0%
0%
95%
100%
70%
65%
10%
0%
0%
15%
10%
0%
0%
0%
0%
0%
0%
1/12
0%
0%
0%
0%
0%
0%
0%
0%
0%
0%
0%
0%
6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20 23 26 29 2 5 8 11 14 17 20 23 26 29 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 30 3 6 9 12 15October 2003 November 2003 December 2003 January 2004 February 2004 March 2004 April 2004 May 2004
464603 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Task List - SampleTask List - Sample
LSM subsystem task list
474703 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Manufacturing & IntegrationManufacturing & IntegrationTime EstimatesTime Estimates
Section Time (Hours)
Nose 30.0
Mid-Section 36.5
Tail 86.0
Control Surfaces 41.0
Buoyancy 45.0
LSM 96.0
Electronics 30.0
Integration 30.0
TOTAL 394.5
TOTAL * 2 789.0
Weeks 10.0
Students 7.0
Hours/Student/Week 12.0
Total Hours Available 840.0
Margin -51.0
484803 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
BudgetBudgetBudget Summary
Structure $425.00
Buoyancy $532.73
Communication $149.38
Data Acquisition $290.00
Propulsion $1,149.35
LSM $935.00
Accessories $45.00
Support Equipment $179.99
Testing Facilities $435.00
Parts Total $4,141.45
Shipping (5% Parts) $207.07
Grand Total $4,348.52
Available $4,950.00
Goal 90% $4,455.00
Margin (Grant Total - 90% Goal) -$106.48
494903 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Specialized Facilities & ResourcesSpecialized Facilities & Resources
CSU Hyperbaric ChamberCSU Hyperbaric Chamber Dr. Alan Tucker (access granted in writing)Dr. Alan Tucker (access granted in writing) 150 ft. x 10 ft.150 ft. x 10 ft. 67 psi67 psi
CU Carlson PoolCU Carlson Pool John Meyer (access granted in writing)John Meyer (access granted in writing) 25m x 12m x 1m25m x 12m x 1m
Aerobotics LaboratoryAerobotics Laboratory Cory Dixon (access granted in writing)Cory Dixon (access granted in writing)
Aerospace Engineering Department & ITLLAerospace Engineering Department & ITLL Walt Lund, Trudy Schwartz, Matt Rhode & Bill InginoWalt Lund, Trudy Schwartz, Matt Rhode & Bill Ingino Testing Support EquipmentTesting Support Equipment
505003 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
ReferencesReferences
Fluid MechanicsFluid Mechanics [1] Myring, D F. [1] Myring, D F. A Theoretical Study of Body Drag in Subcritical Axisymmetric Flow.A Theoretical Study of Body Drag in Subcritical Axisymmetric Flow. Aerospace Quarterly. Volume 3. 1976. Aerospace Quarterly. Volume 3. 1976. Aerodynamics BookAerodynamics Book Dynamics BookDynamics Book Library BookLibrary Book
BuoyancyBuoyancy [B1] www.subconcepts.com[B1] www.subconcepts.com Mr. Fred Grey, subconcepts.comMr. Fred Grey, subconcepts.com
PropulsionPropulsion Argrow PaperArgrow Paper MooG (Co. Documentation)MooG (Co. Documentation)
LSMLSM [LSM1] [LSM1] http://scienceworld.wolfram.com/physics/CylinderDrag.htmlhttp://scienceworld.wolfram.com/physics/CylinderDrag.html & & http://astron.berkeley.edu/~jrg/ay202/node20.html#drag-coefficienthttp://astron.berkeley.edu/~jrg/ay202/node20.html#drag-coefficient & &
http://astron.berkeley.edu/~jrg/ay202/node21.htmlhttp://astron.berkeley.edu/~jrg/ay202/node21.html & & www.eng.fsu.edu/~alvi/EML4304L/webpage/exp7description.docwww.eng.fsu.edu/~alvi/EML4304L/webpage/exp7description.doc [LSM2] [LSM2] http://www.ledex.comhttp://www.ledex.com [LSM3] Robotics Sporting Goods[LSM3] Robotics Sporting Goods [LSM4] Murdock. Fluid Mechanics and its Applications. 1976.[LSM4] Murdock. Fluid Mechanics and its Applications. 1976. AIAA Papers: 2001-2773. 2002-0124. 2002-0126.AIAA Papers: 2001-2773. 2002-0124. 2002-0126.
Systems EngineerSystems Engineer MattMatt
Data AcquisitionData Acquisition WaltWalt
CommunicationsCommunications ARRL HandbookARRL Handbook ShevellShevell VableVable
Text Books:Text Books: Richardson. PADI Open Water Diver Manual. International PADI, Inc. 1999.Richardson. PADI Open Water Diver Manual. International PADI, Inc. 1999. Burcher and Rydill. Concepts in Submarine Design. Cambridge University Press. 1994.Burcher and Rydill. Concepts in Submarine Design. Cambridge University Press. 1994. Robertson. Systems/Subsystems Investigation for a Multi-Sensor Autonomous Underwater Vehicle Search System. US Gov Agencies. April 1990.Robertson. Systems/Subsystems Investigation for a Multi-Sensor Autonomous Underwater Vehicle Search System. US Gov Agencies. April 1990. Vable.l Mechanics of Materials. Oxford University Press. New York. 2002.Vable.l Mechanics of Materials. Oxford University Press. New York. 2002. Shevell. Fundamentals of Flight (2Shevell. Fundamentals of Flight (2ndnd Edition). Prentice Hall. New Jersey. 1989 Edition). Prentice Hall. New Jersey. 1989 Cengel. Introduction to Thermodynamics and Heat Transfer. Irwin McGraw-Hill. 1997.Cengel. Introduction to Thermodynamics and Heat Transfer. Irwin McGraw-Hill. 1997. Reed. The ARRL Handbook for Radio Amateurs 2002.The American Radio Relay League, Inc. 2001Reed. The ARRL Handbook for Radio Amateurs 2002.The American Radio Relay League, Inc. 2001
Supplemental SlidesSupplemental Slides
Fluid MechanicsFluid MechanicsSupplemental SlidesSupplemental Slides
535303 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Top level DesignFM - Top level Design
4 Previous Designs considered4 Previous Designs considered Florida Atlantic University’s “Squid II”Florida Atlantic University’s “Squid II” Mass. Institute of Technology’s “Orca 2”Mass. Institute of Technology’s “Orca 2” Cornell University’s “CUAV”Cornell University’s “CUAV” University of Colorado’s HydroBuff R5-L UUVUniversity of Colorado’s HydroBuff R5-L UUV
545403 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
MINIMIZE DRAG GOAL
HydroBuff Shape
Decrease Outer DiameterDecrease # of Control
surfaces Myring Hull Contour
High Speed trimmability
Trim vertically if center of
Buoyancy is off
Trim laterally ifc.g. is not on
centerline
NACA 0012Aluminum Airfoils 3 in x 3 in
1 m overall length
Nose cone and tailpiece shapes
6 inch outer diameter
Aluminum hull due To availability
Use of ShroudSealing Servo Specs
FINAL DRAGCOMPUTATION
Alreco Aluminum
From Propulsion
555503 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Mid-section Material FM - Mid-section Material ComparisonComparison
CostCost MachinabilityMachinability CompressiveCompressive
StrengthStrength
DensityDensity RiskRisk CommentsComments
Stainless SteelStainless Steel HighHigh
(about (about $50 per $50 per
foot)foot)
ModerateModerate HighHigh HighHigh
(7.8 g/cm^3)(7.8 g/cm^3)
ModeratModeratee
Adds Adds excessive excessive
weight which weight which will reduce will reduce
maneuverabilitmaneuverability.y.
AluminumAluminum LowLow
(about (about $14 per $14 per
foot)foot)
ExcellentExcellent ModerateModerate LowLow
(2.10 g/cm^3)(2.10 g/cm^3)
ModeratModeratee
Available in Available in desired sizes desired sizes
from from manufacturer manufacturer in Coloradoin Colorado
PVCPVC LowLow
(about (about $10 per $10 per
foot)foot)
ExcellentExcellent WeakWeak
(only up to 150 psi)(only up to 150 psi)
LowLow
(1.37 g/cm^3(1.37 g/cm^3
LowLow
(Used (Used last last
year)year)
Not available Not available in desired in desired sizes from sizes from
manufacturer manufacturer in Coloradoin Colorado
565603 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Preliminary Exterior Structure FM - Preliminary Exterior Structure ConclusionsConclusions
Outer diameter of Mid-section was determined to Outer diameter of Mid-section was determined to be 6 inches.be 6 inches. Tubing is typical made with outer diameters of 4, 6 or Tubing is typical made with outer diameters of 4, 6 or
8 inches.8 inches. Diameter was needed to be decreased from last Diameter was needed to be decreased from last
years 8 ¼ inch outer diameter in order to meet years 8 ¼ inch outer diameter in order to meet maneuverability and speed requirements.maneuverability and speed requirements.
A nominal diameter of 4 inches was determined to be A nominal diameter of 4 inches was determined to be too small to fit all required components inside the hull.too small to fit all required components inside the hull.
575703 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Control Surface ConfigurationFM - Control Surface Configuration
Considering 2 possible Considering 2 possible control surface control surface configurationsconfigurations
Configuration 1: 2 dive Configuration 1: 2 dive planes and two rudders planes and two rudders mounted on rear of mounted on rear of tailpiecetailpiece
Configuration 2: 2 dive Configuration 2: 2 dive planes mounted on the planes mounted on the nosecone and one rudder nosecone and one rudder located aft of the propeller.located aft of the propeller.
Determined that vertical Determined that vertical and horizontal stabilizers and horizontal stabilizers are unnecessary.are unnecessary.
585803 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Control Surface Airfoil FM - Control Surface Airfoil SelectionSelection
LiftLift(Max C(Max CLL))
Max Max αα(degrees)(degrees)
DragDrag(C(CDD at at
Max CMax CLL))
Area Area Required Required for Trimfor Trim
RiskRisk CommentsComments
NACANACA
00060006
0.920.92 9 deg9 deg 0.0100.010 183 cm183 cm22 Servo shaft Servo shaft will have to will have to be about 1/8 be about 1/8 inchinch
Symmetric Symmetric airfoilairfoil
NACANACA
00090009
1.321.32 13.4 deg13.4 deg 0.0160.016 127 cm127 cm22 Servo shaft Servo shaft will have to will have to be less than be less than ¼ inch¼ inch
SymmetricSymmetric
airfoilairfoil
NACANACA
0012 0012
1.501.50 15 deg15 deg 0.0250.025 110 cm110 cm22 Excessive Excessive drag may drag may impede on impede on velocity velocity goalsgoals
Symmetric Symmetric
airfoilairfoil
595903 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Airfoil Sizing vs. Shaft SizingFM - Airfoil Sizing vs. Shaft Sizing
ThicknessThickness Max Shaft sizeMax Shaft size(to allow for 0.05 (to allow for 0.05 inches on either side)inches on either side)
Surface Surface Area Area requiredrequired
Drag Drag CoefficientCoefficient
NACA 0009 NACA 0009 w/ 3 inch w/ 3 inch chordchord
0.27 inches0.27 inches 0.17 inches0.17 inches 127 cm127 cm22 0.0160.016
NACA 0009 NACA 0009 w/ 3.5 inch w/ 3.5 inch chordchord
0.315 inches0.315 inches 0.215 inches0.215 inches 127 cm127 cm22 0.0160.016
NACA 0012 NACA 0012 w/ 3 inch w/ 3 inch chordchord
0.36 inches0.36 inches 0.26 inches0.26 inches 110 cm110 cm22 0.0250.025
606003 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Airfoil Sizing ConclusionsFM - Airfoil Sizing ConclusionsA NACA 0012 airfoil with a 3 inch chord was A NACA 0012 airfoil with a 3 inch chord was selected.selected. This will allow us to use a 1/8 inch Servo shaftThis will allow us to use a 1/8 inch Servo shaft
In order to use a 1/8 inch Servo Shaft with a In order to use a 1/8 inch Servo Shaft with a NACA 0009 airfoil, the chord length will have to NACA 0009 airfoil, the chord length will have to be at least 3 inches long. be at least 3 inches long. Span required for this airfoil is 3 inches longSpan required for this airfoil is 3 inches longAluminum was selected for material to be used Aluminum was selected for material to be used for control surfaces and Servo Shaft due to for control surfaces and Servo Shaft due to excellent strength to weight ratiosexcellent strength to weight ratios Acrylic was not selected due to structural problems Acrylic was not selected due to structural problems
with last years design.with last years design.
616103 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
FM - Final Drag ComputationFM - Final Drag Computation
Final Drag ElementsFinal Drag Elements Myring Hull ContourMyring Hull Contour 4 NACA 0012 airfoils4 NACA 0012 airfoils Shroud w/ surface area of 669 cm^2Shroud w/ surface area of 669 cm^2
Final Drag computed to be 14.59 N at 5 knotsFinal Drag computed to be 14.59 N at 5 knots
Reynolds Number = 2.5669 * 10^6, which makes Reynolds Number = 2.5669 * 10^6, which makes flow in the turbulent regimeflow in the turbulent regime
Drag will not be tested directly. Drag data will be Drag will not be tested directly. Drag data will be based on thrust test data.based on thrust test data.
PropulsionPropulsionSupplemental SlidesSupplemental Slides
636303 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Torque ProfileTorque Profile
Intermittent operation Intermittent operation is based on a 20% is based on a 20% duty cycle of one duty cycle of one minute on, four minute on, four minutes off.minutes off.
Torque as RPM changes
RPM @ 5 knots
646403 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
AccelerationAccelerationT*V = T*V = ηη*P*P
Fix Power to 187.4 WFix Power to 187.4 W Step through V’s by 0.5Step through V’s by 0.5
Find efficiency and thrustFind efficiency and thrust F = maF = ma
(Thrust – Drag)/mass = a(Thrust – Drag)/mass = a
ProblemsProblems Efficiency is an approximationEfficiency is an approximation
Slippage and cavitations not Slippage and cavitations not analyzedanalyzed
Mass of vehicleMass of vehicleAdded mass due to waterAdded mass due to water
Acceleration values are much Acceleration values are much larger than needed and larger than needed and expectedexpected
656503 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Rotary Shaft SealRotary Shaft SealBal Seals: 71x SeriesBal Seals: 71x SeriesTemp RangeTemp Range
Continuous:Continuous:-20ºF to +200ºF-20ºF to +200ºF
Intermittent: Intermittent: to +250ºFto +250ºF
Pressure: 60 PSIPressure: 60 PSI RAV: 45 PSI maxRAV: 45 PSI max
Surface Speed: 4 m/sSurface Speed: 4 m/s RAV: 0.673 m/s @ 10 RAV: 0.673 m/s @ 10
knotsknots Rated to 12,030 RPMRated to 12,030 RPM
O ring
Coiled spring
666603 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
R A V
Propulsion Test Stopping MechanismPropulsion Test Stopping Mechanism
Catch netCatch net Nylon Seine netNylon Seine net PVC or wood frame on PVC or wood frame on
two sidestwo sidesTension applied by 2 Tension applied by 2 RAV team membersRAV team members
LSM LSM Supplemental SlidesSupplemental Slides
686803 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
LSM - Detailed Drag AnalysisLSM - Detailed Drag AnalysisMethod:Method:
CCdd vs. Re plot vs. Re plot C Cdd
FFtotaltotal = F = FDragDrag + F + Finertiainertia
Moment = F*rMoment = F*r
Variables:Variables:ρρ = density = densityr = distance from axis of r = distance from axis of rotationrotationωω = spin rate = spin rateD = diameterD = diameterdl= section lengthdl= section length
CCDD = coef of drag = coef of drag
l = length of RAVl = length of RAV
drrCDdlrMoment
DlF
drCDdlrF
L
D
Inertia
L
DDrag
2/
0
2
22
2/
0
2
)()(2
12
)(
)()(2
12
[LSM1]
696903 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
LSM - Solenoid AnalysisLSM - Solenoid Analysis
50% Duty Cycle50% Duty Cycle ON time/(ON + OFF) timeON time/(ON + OFF) time
Maximum ON time Maximum ON time doesn’t exceed the specsdoesn’t exceed the specs
SpecsSpecs Stroke: 0.4±0.03”Stroke: 0.4±0.03” Spring Rate: 4.41 lb/in; Spring Rate: 4.41 lb/in;
0.45 lb ±30% preload0.45 lb ±30% preload Weight: 12 ozWeight: 12 oz Dimensions: 1.875” x Dimensions: 1.875” x
1.935”1.935”
[LSM2]
707003 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
LSM - Comparison to previous jetsLSM - Comparison to previous jets
SimilaritiesSimilarities Soft-Shift SolenoidSoft-Shift Solenoid Overall plunger/latex Overall plunger/latex
designdesign
DifferencesDifferences Theoretical ModelTheoretical Model
Integrated drag & momentIntegrated drag & momentInertiaInertia
Mount / CavityMount / CavityMinimize axial dragMinimize axial dragAir bubble removalAir bubble removal
Solenoid housingSolenoid housing Latex returnLatex return Use of o-ringsUse of o-rings Circuit (not Circuit (not
microcontroller)microcontroller)
Buoyancy Buoyancy Supplemental SlidesSupplemental Slides
727203 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Buoyancy - MATLAB AnalysisBuoyancy - MATLAB Analysis
737303 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Buoyancy - Stress Analysis & Mass Buoyancy - Stress Analysis & Mass Flow Rate CalculationFlow Rate Calculation
Project Management Project Management Supplemental SlidesSupplemental Slides
757503 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Drawing Tree - FullDrawing Tree - Full
767603 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Detailed WBSDetailed WBS
777703 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
Task List - FullTask List - Full
787803 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation
PM – Detailed BudgetPM – Detailed Budget