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

2203 Dec 0303 Dec 03 RAV CDR PresentationRAV CDR Presentation

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


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


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


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


Overview of Mechanical DesignOverview of Mechanical Design


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)


Subsystems Design ElementsSubsystems Design Elements

Hydrodynamics & StructureHydrodynamics & Structure

BuoyancyBuoyancy

PropulsionPropulsion

LSMLSM

CommunicationCommunication


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


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


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


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


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


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


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


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%


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:


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


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


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]


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


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


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

-

+


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


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


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]


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


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]


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


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


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


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


Communication AnalysisCommunication Analysis

AntennaeDesign

Attenuation ofWater

Power GainReciever

FrequencySelection

Antennae Drag

Attenuation ofAir

Range

StructuralAnalysis

Refraction Index

RC controllerPower out ¾ W


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


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


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


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


Drawing Tree - SampleDrawing Tree - Sample


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


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


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


Project Management PlanProject Management Plan

Organizational ResponsibilitiesOrganizational Responsibilities

Work Breakdown StructureWork Breakdown Structure

ScheduleSchedule

BudgetBudget

Specialized Facilities & ResourcesSpecialized Facilities & Resources


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


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


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


Task List - SampleTask List - Sample

LSM subsystem task list


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


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


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


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


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


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


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


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


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


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.


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.


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


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


NACA 0012 NACA 0012 w/ 3 inch w/ 3 inch chordchord



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.


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


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


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


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


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


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]


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]


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


Buoyancy - MATLAB AnalysisBuoyancy - MATLAB Analysis


Buoyancy - Stress Analysis & Mass Buoyancy - Stress Analysis & Mass Flow Rate CalculationFlow Rate Calculation

Project Management Project Management Supplemental SlidesSupplemental Slides


Drawing Tree - FullDrawing Tree - Full


Detailed WBSDetailed WBS


Task List - FullTask List - Full


PM – Detailed BudgetPM – Detailed Budget

critical design review remote aquatic vehicle (rav)

Documents

high speed maneuvering

test illustration

long x

overall lengthnose cone

aquatic vehicle capable

minimal drag

cost strengthmidsection

depthascentdescent rate