Human Powered Submarine

1. Human Powered Submarine Swamp Thing 3 University of Florida International Submarine Races at David Taylor Model Basin Carderock, MD June 27 - July 1, 2011

2. 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

3. Swamp Thing 3 Team Goals • 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!

4. Swamp Thing 3 Design Philosophy • 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

5. Design and Fabrication Hull Drive train Propulsion Mechanical controls Life Support Safety Electrical controls

6. Hull Hull

7. Hull • 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

8. Hull • 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

9. Design and Fabrication Hull Drive train Propulsion Mechanical controls Life Support Safety Electrical controls

10. Propulsion • 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

11. Drive Train Drive train

12. Drive 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

13. Electrical Controls Electrical controls

14. Electrical 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

15. Electrical 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

16. Electrical 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

17. Mechanical Controls Mechanical controls

18. Mechanical 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

19. Life Support Life Support

20. Life 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

21. Safety Safety

22. Safety 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

23. UF Human Powered Submarine QUESTIONS?