Mini-Sub

1. Mini-Sub Randy Draeger Grant Stockton David Upp

2. Problem Statement • As High School students, we have not fully investigated or implemented the concepts and applications of electronics, fluid dynamics, energy systems, mechanical systems, and calculus in the construction and use of submersible technologies

3. Research • Ballast Systems • Hull Design • Propulsion Systems • Electronic Control • Servo • Power Source • Components

4. Project Scope • Research, design and build submersible • Deliverables: • Submarine • Final Report • Final PowerPoint Presentation • Consult Experts: • Teachers • Hobby Experts • Hardware Experts • Less than $400

5. Criteria • Must function underwater • Waterproof • Electronic components are protected (safety) • Movement with 3 degrees of Freedom • Ballast System • Maintain Neutral Buoyancy [still and motion] • Diving range 5-10 ft. (optional) • Video Feed (optional) • Lighting (optional)

6. Constraints • Limited weight due to buoyancy • Limited Budgets ($400) • Materials must withstand underwater pressure • All materials must run off the same power source with the voltage drop • Depth is limited to tether line

7. Possibilities • Submarine Vs. ROV • Ballast Tank Design

8. Randy’s Design

9. David’s Design

10. Grant’s design

11. Select an approach

12. Design • Saddle Ballast Tank Design • Middle tube is dry • 2 outside tubes are the ballast tanks • Gas powered ballast • Motors and propellers on outside tubes • Camera on middle tube • Stabilizing Fin

14. Construction • Work Process • Problems

15. Construction (pictures)

17. Safety Glasses In the navy

18. Prototype • Design • Propulsion System • Propellers • Buoyancy System • Problems • Water Leakage • Center of Gravity vs. Center of Bouyancy • Design changes • Prop Adapter • Servo orientation

19. Prototype (pictures)

20. TEST plan 1 (specs) • Purpose • Keep submarine within constraints • Procedure • Measure dimensions • Expected results • Fit with 2x2x3 • Results • Fits within dimensions

21. Test Plan 2 (Propelled buoyancy) • Purpose • Ensure buoyancy system is operational during motion • Procedure • Attain neutral buoyancy • Move with obstacle (cage) • Expected results • Pass with obstacle • Results • Never attained stationary bouyancy

22. Test Plan (3 Degrees of freedom) • Purpose • Verify that submarine moves on all 3 axis • Procedure • submerge • Move through obstacle • turn • Back through obstacle • Expected results • Proper navigation through the obstacle course • Results • Never attained stationary bouyancy

23. Test plan 4 (video feed) • Purpose • Check webcam is providing input • Procedure • Plug in webcam • Use geometric shapes to verify input • Expected results • Webcam provides input • Results • Webcam was water damaged

24. Test plan 5 (Water proof) • Purpose • Procedure • Expected results • Results

25. Waterproof problems • Problems • Epoxy and silicon sealant • Fiber glass casing • Re-fitting

26. Test plan 6 ( Stationary Neutral buoyancy) • Purpose • Verify buoyancy while not moving • Procedure • Attain neutral buoyancy • Measure time at neutrally buoyant • Expected results • Prototype attains neutral buoyancy • Results • Never attained neutral bouyancy

27. Test photos

28. Test conclusions • Waterproofing • Buoyancy Issues • Further Refinements

29. Refining • Waterproofing • Center of Buoyancy • Added Weight to Adjust • Water Inertia • Web Cam view • Tether Tension • Top Cap Screw • Outer Body • Fiber glass Shell

30. Future refinements • Trim tanks • Different Canisters • Propeller Placment

31. Lessons Learned (Randy) • Unforeseen Problems • Construction • Importance of calculations

32. Lessons Learned (Grant) • Water Vs. Grant

33. Lessons Learned (David) • Water is a challenge • Importance of physics concepts

34. Summary