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

University of Florida 2011 Human Powered Submarine Team Swamp Thing 3 University of Florida 2011 Human Powered Submarine Team Swamp Thing I had a mechanical control system. For Swamp Thing II we decided to design and implement an electronic control system. The previous Swamp Thing II control system included: -- Read components from slide, point to pictures Dana Massaro – Captain Don Wehagen – Lead Engineer Andy Luce – Editor Cory McFarlane Alex Muñoz-Mendoza Kenny Wilbur

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!

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

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

Hull Hull

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

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

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

Drive Train Drive train

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

Electrical Controls Electrical controls

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

Mechanical Controls Mechanical controls

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

Life Support Life Support

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

Safety Safety

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 The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing. The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub. The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub. The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these. This is the 3rd year UF has been involved in the sub competition. This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II. In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

UF Human Powered Submarine QUESTIONS? Does anyone have any questions?