Human Powered SubmarineHuman Powered Submarine

University of FloridaUniversity of FloridaInternational Submarine Races atInternational Submarine Races at

David Taylor Model BasinDavid Taylor Model BasinCarderock, MDCarderock, MD

June 27 - July 1, 2011June 27 - July 1, 2011

Swamp Thing 3Swamp 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 3Swamp Thing 3

• 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!

Team Goals

Swamp Thing 3Swamp Thing 3

• Simplicity – Make our designs simple – Make our submarine easy to assembly and easy to operate

• Automation – Electronic control system to minimize driver error – Automatic steering so driver could focus only on pedaling

• Adaptation – Create simple solutions to whatever problems may occur – Be prepared for worst

Design Philosophy

Design and FabricationDesign and Fabrication

HullPropulsion

Drive train

Mechanical controls Electrical

controls

Life SupportSafety

HullHull

Hull

HullHull

• 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

HullHull

• 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 FabricationDesign and Fabrication

HullPropulsion

Drive train

Mechanical controls Electrical

controls

Life SupportSafety

PropulsionPropulsion

• 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 TrainDrive Train

Drive train

Drive TrainDrive Train

• 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 ControlsElectrical Controls

Electrical controls

Electrical Control SystemsElectrical Control Systems

• 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 SystemsElectrical Control Systems

• 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 SystemsElectrical Control Systems

• 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 ControlsMechanical Controls

Mechanical controls

Mechanical Backup Control SystemsMechanical Backup Control Systems

• 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 SupportLife Support

Life Support

Life SupportLife Support

• 20 cu. ft. pony tank used as pilot’s primary air source– Secured underneath harness

• Spare air attached to pilot as secondary air source

SafetySafety

Safety

Safety SystemsSafety Systems• 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 SubmarineUF Human Powered Submarine

QUESTIONS?