Louise M c Gowan Ken Millard Kevin Pearce Daniel Rice Kevin Pearce Daniel Rice A Dalhousie Design Project Presentation Group 6 03 December, 2004 Joint-service Active Watch Surveillance Submersible

Introduction What is JAWSS? What Does it Do? Main Purpose? Courtesy HMCS Iroquois

Inexpensive ConstructionInexpensive Construction Ease of UseEase of Use Practical ApplicationPractical Application JAWSS

Design Requirements Design Requirements Seaworthiness 1.Watertight 2.Buoyancy 3.Recovery Displacement (total) = Displacement (hull) + Displacement (h. thrusters) + Displacement (dome) + Displacement (cage) – 60% Displacement (v. thrusters) m kg (FW) 14.2 kg (SW)

Maneuverability 1.Speed 2.Degrees of freedom (DOF) 3.Controlled by 1 person, tethered Fd = Cd * ½(ρV 2 A) Cd (cylinder) = 1.5 Cd (circular strut) = 1.2 V = 1.03 m/s 2 knots) ρ = kg/m 3 Initial Drag Estimates: 30 N

Propellers Initial propeller designs were estimated using Gawn Data crossplots: BAR = 4(Ad)/Πd 2 = /d 2 = 0.2 Kt/J 2 = T/(ρd 2 V 2 ) = 2 P/d = 0.51 Kt= J 2 /d 2 J = 0.13 n = V * (30.88)/dJ = rpm Friction to Power ratio tests will be undertaken on 3 and 4 blade props. P = m d = 0.05 m n = rpm Courtesy PBS.com : NOVA

Mission Effectiveness 1.View at 2ft distance 2.Video to controller with sufficient resolution 3.External DC power 4.Launched from ship’s boat Courtesy HMCS Iroquois

“The prelude to action is the work of the Engine Room Department” Admiral Jellicoe, 1916

Movement 2 Vertical and 2 Horizontal Thrusters2 Vertical and 2 Horizontal Thrusters 4 Degrees4 Degrees of Freedom of Freedom

F=Cd*2*  *V^2*AF=Cd*2*  *V^2*A P=FVP=FV Tether = 20WTether = 20W Body = 13WBody = 13W DRAG

12 Volt motors12 Volt motors 1-4A1-4A Based on drag testingBased on drag testing Motors Courtesy RadioShack.ca

Douglas Adams “A common mistake that people make when trying to design something completely foolproof was to underestimate the ingenuity of complete fools.”

Initial goals: Return video to surfaceReturn video to surface 3 Degrees of Freedom3 Degrees of Freedom Controllable by 1 personControllable by 1 person Control Systems: Goals

Brains of the operation controls: Motors x 4Motors x 4 Camera Servos x 2Camera Servos x 2 LightingLighting SensorsSensors Surface communicationsSurface communications Control System: Brains Delphinus Marine

Control Box includes: Joystick control of thrustersJoystick control of thrusters Joystick control of cameraJoystick control of camera Switch control for lightsSwitch control for lights LCD display for sensor dataLCD display for sensor data Leak warning lightLeak warning light Video OutputVideo Output Control System: Controls HVWTech.com Delphinus Marine

Onboard sensors include: Leak detectionLeak detection Pressure (= depth)Pressure (= depth) External TemperatureExternal Temperature Internal TemperatureInternal Temperature National Semiconductor Honeywell Control System: Sensors

“For every action there is an equal and opposite government program.” Bob Wells

Chosen: 12V DC Power supply  Weight of submersible reduced  Unlimited # of batteries  Power could originate from power inverter from power inverter JAWSS Power Supply

Components: 2 CAT-5, 18 Gauge Power/Ground2 CAT-5, 18 Gauge Power/Ground Floats for neutral buoyancyFloats for neutral buoyancy Wires shielded / watertight to reduce resistance lossesWires shielded / watertight to reduce resistance losses Disadvantages: Disadvantages:  Increased drag  Vertical load Tether Design

1 st Test: Logitech webcam1 st Test: Logitech webcam 2 nd Test: CCD Camera from security type camera2 nd Test: CCD Camera from security type camera Chosen: PC169XS CCD camera due to its:Chosen: PC169XS CCD camera due to its:  Low light visibility characteristics  Low Weight  Small size (1.5 sq in.)  Low current draw (110 mA ) Camera Selection SuperCircuits.com

Pan / Tilt using servo motors (0.90x0.37x0.61in.; 5.4 grams)Pan / Tilt using servo motors (0.90x0.37x0.61in.; 5.4 grams) Mounted on two platforms looking out through domeMounted on two platforms looking out through dome Composite video sent back to controller via tetherComposite video sent back to controller via tether Controls integrated into thoseControls integrated into those of the submersible of the submersible Camera Design RobotShop.ca

Lighting 2 banks of white LED’s2 banks of white LED’s Parallel to camera inside the domeParallel to camera inside the dome Lights Pan and Tilt with CameraLights Pan and Tilt with Camera Placed to eliminatePlaced to eliminate glare glare Chosen: LEDChosen: LED (0.3 Amps, watertight, (0.3 Amps, watertight, 12V DC, illuminates 22.5” 12V DC, illuminates 22.5” Dia circle at 2 feet) Dia circle at 2 feet) Global Plastics

Camera / Lighting Design Issue: Aberration Solution: Camera lens perfectly centeredCamera lens perfectly centered Placing lights parallel to cameraPlacing lights parallel to camera

The Way Ahead ConstructionConstruction TestingTesting AssessmentAssessment DRDC (Atlantic) Acoustic Barge Courtesy DRDC (Atlantic)

JAWSS Proud Supporters Delphinus Marine Technologies Ancaster, ON, Canada DRDC Atlantic DND: Fleet Maintenance Facility, Cape Scott Digi-Key, USA Alberta Printed Circuits

Conclusion SituationSituation MissionMission ExecutionExecution Service and SupportService and Support Command and SignalsCommand and Signals

QUESTIONS ?

Thank-You!