March 6, 2014 Client: Dr. Michael Hinchey Group Name: LifeSub Engineering Group Number:M14 Group Members:Ajanthan Asokan William Barkhouse Matthew Browne Stephen Handrigan

Agenda Project Overview Prototype Design Evolution Structural Material Control Analysis Lifting Finite Element Analysis (FEA) Motion (Flow3D) Control Codes & Sequence Testing Methods Deployment Strategies Moving Forward Questions March 6, 20142

Project Overview March 6, 2014 Current Problem Lifeboats – Exposed to Hazards Freefall – Uncontrolled Proposed Solution Deployable Submarine Project Goals Develop and Test Automated Submarine Prototype Develop and Test Deployment Options Identify Design Requirements Prove Operational Viability Make Recommendations on Full- scale Development 3

Prototype Design Evolution March 6, Structural Lifting Hook Tail Sweep Propeller Shroud Material Previous – 6” OD Aluminum Round Stock Current Hull – 6” ID, PVC Pipe Endcaps – Solid Round Stock ABS Shroud – RP ABS Phase 1 Phase 2

Prototype Design Evolution March 6, Controls Experimental Circuit (Breadboard) Initial code testing Printed Circuit Board (PCB) Fine-tuning with prototype equipment Execute submarine control

Analysis: Lifting March 6, Applied Load: 125 (N) Maximum Lift Acceleration: 1 (m/s 2 ) Lifting Hook – ¼” x 20 UNC Nylon Maximum Stress due to Bending Lifting Angle Limit: 10 ° (S.F. 2 ) Torque Requirement: 1 (N-m) End Cap Fasteners - 4 x ¼ x 28 UNC Nylon Utilization: 2% of Yield Strength Torque Requirement: 1 (N-m) 10°

Finite Element Analysis (FEA) Quarter Model Hydrostatic Analysis Boundary Conditions Roller Side Boundaries Fixed at Nose Setup Pressure: 60 kPa (~6m) Mesh: 6mm curvature Results Limiting Safety Factor: Max Deflection: 35.2 µm March 6, MIN: S.F.

Motion Analysis: Flow3D March 6, Conditions Preset amount of ballast Fully submerged Still water Exclude buoyancy control Uniform density Setup Acceleration: 0.1 m/s 2 downwards Disp. Mass: 11.2 kg; Mass: kg Hollow body with point mass Result: COG ~10mm below COB 4 ft 5.2 ft 2.8 ft

Motion Analysis: Flow3D March 6, 20149

Control Codes March 6, Speed Control Code Varying thruster RPM Depth Control Code Maintain desired depth band Roll & Pitch Code Continual monitoring of roll and pitch Potentiometer Replicates sensor Thruster Replicates thruster ± 2.5 V Stepper Motor Replicates Pump Ballast Control

Code Sequence March 6, θ - θ + Φ- Φ Z2Z2 Z1Z1 + Z

Testing Methods March 6, Static Commissioning Water Tight Hull Test External Ballast System Pressure Test Dynamic Commissioning Depth Driven Ballast Test Rotation Driven Thrust Test Pitch Roll Depth

Deployment Strategies March 6, Vertical Deployment Propeller-down launch Underwater Avoid GBS interference 2. Horizontal Launch Release bay filled with water Exit from enclosed piping 3. Horizontal Docking Connect with GBS

Moving Forward Refine Flow3D Model using an upgraded version of Flow3D Complete construction and fabrication Continue optimizing control codes Perform testing and analysis Phase 3 Decision: Develop general recommendations for full-scale implementation March 6,

Questions? March 6, Thank-you