1. April 1, 2014 Client: Dr. Michael Hinchey Group Name: LifeSub Engineering Group Number:M14 Group Members:Ajanthan Asokan William Barkhouse Matthew Browne Stephen Handrigan

2. Agenda Problem Statement Project Overview Deployment Strategies Prototype Design Manufacturing Commissioning Conclusion Future Work & Recommendations Questions April 1, 20142

3. Problem Statement Develop a prototype and deployment strategies to prove an autonomous submersible could be used as an evacuation method for offshore structures. February 4, 20143

4. Project Overview April 1, 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 4

5. Control Sequence April 1, 2014 + θ - θ + Φ- Φ Z2Z2 Z1Z1 + Z 5

6. Deployment Strategies April 1, 2014 1. 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 1. 2. 3. 6

7. Prototype Design Evolution April 1, 2014 Phase 3 Propeller Shroud with Streamline Hub Piston Ballast Pumps Internal Support Mounts Stepper Motor Sleds Phase 1 Phase 3 7 Phase 2

8. Prototype Design April 1, 20148 Ring guide and shroud Protect hull Allow air and water passage around sub during deployment Shroud Protects thruster from being damaged Streamlined hub reduces eddy currents Lifting Hook allows for the lifting of prototype Center-axis mounted thruster with F/R control Piston Pumps

9. Prototype Design: Internal Mounting April 1, 2014 2 Ballast Pump Mounts 2 Ballast Pumps 2 Support Rings 3 Batteries 1 Circuit Board 2 Stepper Motors 4 ¼”-20 Threaded Rod Prototype 9 ¼ "-20 Hex Nuts ¼" -20 Threaded Rod SolidWorks Model

10. Prototype Manufacturing 10 Ballast Chamber 25mm diameter piston pump 40mm vertical piston travel Driven by stepper motor via rack in pinion

11. Prototype Design: Ballast System April 1, 2014 Internal Piston Setup 11 Stepper Motor & Sled Rod Support Mounts Rack & Pinion (32 - 3/16”) Piston Ballast Pump

12. Pseudo-wiring Diagram April 1, 201412 PIC MOSFETS Batteries Thruster Clamp Signals 1-6 V IN GND Stepper Motor *** Stepper Motor Circuit Piston Signals 1-6 Pressure Sensor, Accelerometer, etc. ** +5 V * GND RS-232 DE-9 Female Pinout

13. Prototype Manufacturing 13 Hull Extruded ABS Pipe provided by EMCO Completed by Tech Services Ring Guide/Shroud RP ABS Plastic Completed by MTC Piston Pumps Fabricated from recycled piston shocks Completed by Tech Services

14. Commissioning April 1, 2014 Water Control Tests Water Tight Hull Pre-ballast and leveling Dry Control Tests Stepper Motor Test Thruster Test Sensor Test Dynamic Balancing 14

15. Conclusion Developed an automated submersible prototype with active Pitch, Depth, and Thrust control Developed commissioning procedures to verify operability of prototype Developed test procedures to simulate emergency evacuation of offshore structures Developed the codes required to perform testing with the prototype April 1, 201415

16. Recommendations and Future Work April 1, 2014 Complete commissioning of active systems Depth Pitch Thrust Complete deployment tests Analyze motion Make recommendations for viability of full-scale implementation 16

17. Questions? April 1, 2014 Thank-you www.lifesubengineering.weebly.com 17