1. P12463 : Hydrodynamic Kite Model System Design Review
Team Members:
Mark Negro
Adam Dunn
Andrew Garland
Michelle Wang
Vulf Kirman

2. Contents Desired Outcomes of System Design Review (SDR)
P12463 SDR
Contents
Desired Outcomes of System Design Review (SDR)
Project Background and Key Objectives
Team Member Roles Responsibilities
System Architecture and Diagrams
Customer Needs
Customer Specifications
Concept Selection Process
Feasibility Analysis
Schedule for MSD 1 + 2
Risks

3. Desired Outcomes Guidance Verify method of approach
P12463 SDR
Desired Outcomes
Guidance
Verify method of approach
Reveal any unexplored areas of study from customer and guests
Inform guide and customer of progress
Approval to start detailed design

4. Project Background / Key Objectives
P12463 SDR
Project Background / Key Objectives
The goals of the project:
Design vertically mounted hydrofoil system for testing
Will replicate a simplified model of a tethered kite system
Data collected will be used to verify or improve an existing model simulation.
Calculate power output created when the hydrofoil is attached to a freely pivoting boom
Done by measuring angular velocity of moving boom arm
Interface with tow rig platform designed by P12462.

5. Member Responsibilities
P12463 SDR
Member Responsibilities

6. Functional Decomposition
P12463 SDR
Functional Decomposition

7. System Overview Input Output Input Output Tethered Hydrofoil Model
P12463 SDR
Tethered Hydrofoil Model
Power generated
Input
Output
Current boom angle
Current hydrofoil angle
Digital video of surface interaction
Boom length
Aspect ratio
Hydrofoil flip
locations
Controls / Data Acquisition
Input
Output
Resistive torque
Hydrofoil flip angles
Tow Rig
Input
Output
“Flow” velocity
Hydrofoil flip locations
Real-time visual representation of model motion
Resistive torque
Current hydrofoil angle
Hydrofoil flip angles
Current boom angle
“Flow” velocity
Net power

8. Control System Architecture
P12463 SDR
Control System Architecture
Symbol
Device
Function 1
Strain Gage
Measure torque, τ 2
Potentiometer
Measure ϴ 3
Video Camera
Capture high-speed _video of foil 4
Actuator
Control Ф 1 3 Φ 4 2

9. Actuator Linkage Boom User Interface Support/Linkage Dump Load
Hydrofoil
Tow Rig
Actuator
Control flip orientation of hydrofoil
Angular Position Monitor
Output angular position of hydrofoil
Linkage
Power Source/ Regulator
Data Acquisition Computer
Boom
Output angular position
of boom
Angular Position Monitor
User input
(if desired)
User Interface
Generator Station
Support/Linkage
Key:
Physical connection
Data connection
Power connection
Digital Video Camera
Input resistive torque
delivered by dump
load
Dump Load
P12463 SDR

10. Functional Diagram P12463 SDR
Physical interface with tow rig platform (bolted flange connection
Dump load (constant torque; power generation)
Digital video camera
Hydrofoil actuation (pneumatic or electric servo motor?)
Coupled shafts
Boom angle (hollow shaft potentiometer)
Hydrofoil angle (hollow shaft potentiometer)
Boom support / free rotation (roller bearing)
Controls / Data collection

11. Construction Assumptions for SDR
P12463 SDR
Construction Assumptions for SDR
Boom length and hydrofoil aspect ratio will be changed manually
Hydrofoil flip location, hydrofoil flip angle, platform velocity and dump load torque will be controlled via Labview
Rather than directly measuring torque, we will be calculating it as a function of angular acceleration and moment of inertia
Potentiometers will be used to measure angular position of both the boom and the hydrofoil relative to the boom
The linkage between the dump load and the boom will consist of coupled shafts and a bearing (roller or ball) that is capable of supporting axial loading
We will be using a laptop for controlling our system and collecting data
Hydrofoil actuation has not been determined; choice is between pneumatic/hydraulic actuation and an electric servo motor
Digital video camera will neither receive nor transmit data or power to the rest of the system

12. Customer Needs
P12463 SDR

13. Engineering Specifications
P12463 SDR
Engineering Specifications

14. Decision Criteria Functions: Attach Tow Rig Multiple Boom Lengths
P12463 SDR
Decision Criteria
Functions:
Attach Tow Rig
Multiple Boom Lengths
Hold Hydrofoil Position Constant Relative to Boom
Flip Hydrofoil
Measure Angular Position of Boom
Connect Hydrofoil to Boom
Allow Rotation of Boom/Types of Dump Loads
Measure Torque of Boom
Change when Hydrofoil Flips in Cycle

15. Feasibility Analysis: Boom Arm & Hydrofoil (Maximum)
P12463 SDR
Feasibility Analysis: Boom Arm & Hydrofoil (Maximum)
Milestones Reached
Created an excel spreadsheet which would take a set of inputs on dimensions of boom and other factors to determine the bending stress on the boom at different boom angles and angles of attack based on the data retrieved from the MATLAB simulation.
Brainstormed the possible worst case scenarios for the system as far as bending stress and stall were concerned.
Some of the assumptions that were made during the brainstorming session are as follows:
Static Equilibrium
Angular velocity of the boom arm is 0 rad/s
Hydrofoil chord length is perpendicular to the direction of the flow velocity
The brainstorming session was verified by altering some of the values in the MATLAB simulation to mimic our setup.
Milestone that have yet to be reached
Must get the MATLAB code to output lift forces in order to change the moment equation in the excel spreadsheet to account for bending based on both drag and lift.
Need to test out a set of worst case scenarios for both the hydrofoil and boom arm (for bending stress) to be able to see which set of boom and hydrofoil dimensions fit best for both the tank team and our team.

16. Feasibility Analysis: Hydrofoil (Minimum)
P12463 SDR
Feasibility Analysis: Hydrofoil (Minimum)
Minimum hydrofoil size is limited by manufacturing methods and precision of instrumentation.
The team will be contacting a manufacturer of hollow shaft potentiometers to, hopefully, determine the accuracy of this device when monitoring angular position

17. Feasibility Analysis: Tank Width and Boom Arm
P12463 SDR
Feasibility Analysis: Tank Width and Boom Arm
Option 1: Boom is in middle of tank
Assumptions:
-assume 90 degrees total rotation. Rotation is equal on both sides of platform (45 degrees)
Option 2: Boom is at side of tank. Boundary layer is less than Wph
-platform against tank wall
-90 degrees maximum rotation
-rotation starts parallel to length of tank wall
Option 1
Chord Length [inches]: 4
Tank size [inches] 60
Boundary Layer thickness (1 side) [inches] 16
Usable Tank Width [inches] 28
Length of Boom [inches]
19.8
Option 2
Chord Length [inches] 4
Tank Size [inches] 30
Boundary Layer [inches] 8
Wph [inches] 10
Usable Tank Width [inches] 12
Length of Boom [inches]

18. Feasibility Analysis: Tank Width (cont.)
P12463 SDR
Feasibility Analysis: Tank Width (cont.)
Option 3: Boom is at side of tank. Boundary layer is greater than Wph
Assumptions:
-platform against tank wall
-start of cycle outside of boundary layer
Option 3
Chord Length 4
Tank Size [inches] 30
Boundary Layer [inches] 8
Wph [inches]
Length of Boom 18

19. Feasibility Analysis: Tank Size and Cycle Time
P12463 SDR
Feasibility Analysis: Tank Size and Cycle Time
Parameter
Symbol
Unit
Control Value
Parameter Variation
Mass of kite mk kg
0.05
Mass of boom mb
0.25
Length of boom l m
0.45
Angle of foil to boom
beta
rad 70
Value of braking torque K
Nms
0.5
0.1
0.3
0.7
0.9
Span of foil in water
r_dep in 14
Chord Length
chord
1.4
River velocity
vinf
m/s 1
Initial angle of boom
Y0(1) 5
Initial angular velocity of boom
Y0(2)
rad/s 60
Angular position limits
theta
>90,<5
Angular velocity limits
thetadot
<2
Return Angle
-70
Cycle Time
s/cyc
1.78
1.26
1.58
2.02
2.29

20. Feasibility Analysis: Tank Size and Cycle Time (cont.)
P12463 SDR
Feasibility Analysis: Tank Size and Cycle Time (cont.)

21. Feasibility Analysis: Flipping Mechanism
P12463 SDR
Feasibility Analysis: Flipping Mechanism
Timing
Input
Comments
Desired Cycles, n 3
Usable tank length (meters)
4.3
Minimum cycle time (m/cycle)
1.43
Eqn = desired cycle time/n
Flow velocity, v (m/s)
0.5
Attainable cycle time (m/cycle)
1.2
Output
Number of flips 5
Eqn = (n*2)-1
Allowable time to flip (s/flip)
0.28
Eqn = (((Minimum-attainable)*n)/v)/# of flips
Comparison
Servo
Hydraulic
Weight
>50 g
Heavy
Speed
0.08 s/60°*
Torque
12 kg-cm
Lots
Cost
to $70
Hundreds
* At 6V
Available in high resolution sampling ranges. Don't know if torque is sufficient to keep foil from slipping. High-torque models available
^ Not practical for our use. Will consult with Wellin about his thoughts on hydraulics. Let's move forward with Servo.

22. Budget: Estimations P12463 Budget: $2,000 P12463 SDR
$2,000
Expense Description
Qty
Unit Cost
Cost
Hydrofoil Materials 5 $8
$40
Dump Loads 1
$600
Hollow-shaft Potentiometer 2
$10
$20
Flipping Mechanism
$100
Boom Materials 3
$50
$150
Camera $0
Bearing for Boom
Shaft Coupling
Attachment Rig Material
Laptop
$300
Environmental Protection ?
Cables and Wires
Remainder:
$440

23. Schedule for MSD 1 P12463 SDR Task Name Duration Start Finish
Predecessors
Brainstorming
2 days
Mon 10/3/11
Thu 10/6/11
Risk Assessment
3 days
Sun 10/2/11
Tue 10/4/11
Send Preview of System Design Review
0 days
System Design Review Calculations
5 days
Design Review "Check"
Make Changes from Design Review "Check"
Wed 10/5/11 5
Send SDR Presentation to Attendees 6
Decide methods to fulfill functions
16 days
Tue 10/25/11
System Design Review
Fri 10/7/11
Detailed Calculations on Hydrofoil Loads
6 days
Fri 10/14/11
Design Boom Arm
Mon 10/10/11
Mon 10/17/11
Detailed Calculations for Boom Connections
10 days
Fri 10/21/11
Identify Parts Needed to Acquire
Wed 10/12/11
Wed 11/2/11
Prepare for Detailed Design Review
4 days
Mon 10/31/11
Thu 11/3/11
Detailed Design Review
14,10,11,12,13
Additional Detailed Design Based on Review
8 days
Tue 11/8/11
Thu 11/17/11 15
Order Long Lead Time Parts
14 days
Prepare for MSD I Review
Mon 11/14/11
MSD I-Final Design Review 18
Thanksgiving Break
Sat 11/19/11
Sun 11/27/11

24. Schedule for MSD 2 P12463 SDR Task Name Duration Start Finish
Predecessors
Order/Acquire Short Lead time Parts
6 days
Mon 11/28/11
Mon 12/5/11
Manufacture Hydrofoils
10 days
Fri 12/9/11
Manufacture Boom
7 days
Tue 12/6/11
Assemble Boom Connections
Wed 12/7/11
Thu 12/15/11 23
Test Boom Connections
2 days
Fri 12/16/11
Sat 12/17/11 24
LabView Programming
36 days
Fri 1/13/12
Incorporate Actuation Devices
19 days
Wed 12/14/11
Mon 1/9/12
Test Actuation Devices
3 days
Thu 1/12/12 27
Incorporate Dump Load
4 days
Tue 1/10/12
Test Dump Load
Mon 1/16/12
Wed 1/18/12 29
Incorporate Instrumentation
Mon 1/23/12
23,25,26
Test Instrumentation
Tue 1/24/12
Thu 1/26/12 31
Protect Components
Fri 1/20/12
Test Protection of Components
5 days
Fri 1/27/12 33
Winter-Holiday Break
16 days
Sun 1/8/12
Preliminary Integrate System With Team P14262
Mon 1/30/12
Wed 2/1/12
22,23,25,28,30,32,34
Debug After Preliminary Integration
Thu 2/2/12
Tue 2/7/12 36
Preliminary Customer Demo
0 days 37
Debug per Customer Needs
Thu 2/9/12
Fri 2/17/12 38
Reintegrate System with Team P14262
Mon 2/20/12
Wed 2/22/12 39
Final Customer Demo
39,40
Prepare for MSDII-Final Review
13 days
Tue 2/21/12
Thu 3/8/12
MSD II-Final Review 41

25. Risk Assessment P12463 SDR Risk Item Effect Cause Likelihood Severity
Importance
Action to Minimize
Owner 1
Incorrect engineering analysis
Component or total system failure, unsatisfied customer
Incorrect assumptions, miscommunication 2 3 6
Double-Check Calculations, Facility Confirmation
All of team
Inability to hold hydrofoil angle constant relative to boom
Unsatisfied customer, unable to collect data
Failure of mechanism, poor integration with other function components, higher loads on hydrofoil than expected
Testing, Double-check calculations
Vulf/Andrew
Failure for boom to rotate
Inability to get correct data, safety issues, must redesign/manufacture
Improper calculations and unexpected stresses, improper construction
Testing, proper design, compare with other existing technologies
Adam/Mark 4
Inaccurate measurements
Unsatisfied customer
Improper sizing of instrumentation, Improper installation of instrumentation, miscalculation of loads
Double-Check Calculations, Facility Confirmation, Check Manufacturing specifications
Vulf/Adam 5
Inability to connect with P12462
Must rework or reconceptulize connection
Miscommunication or lack of documentation between groups
Communication of current plan and changes, keep current interface document between groups
Change in customer needs/priority
Narrow project scope, re-evaluate functional decomposition and system design
Customer decisions, Purpose of collected data changes -
Mark/Customer 7
Flipping mechanism failure 8
Structural failure of hydrofoil
Vulf/Mark

26. Risk Assessment (cont.)
P12463 SDR
Risk Item
Effect
Cause
Likelihood
Severity
Importance
Action to Minimize
Owner 9
Over budget
Cannot order necessary parts
Bad cost management, necessary technologies more expensive for required performance 2 4
Proper utilization of available technologies, Keep track of budget
Andrew/Michelle 10
May not finish project on time
Bad grades, unsatisfied customer
Poor time management
Compare progress to Gantt Chart to stay on track
Mark/All of Team 11
Structural Failure of Boom
Inability to get correct data, safety issues, must redesign/manufacture
Improper calculations and unexpected stresses, improper construction 1 3
Double-Check Calculations, Facility Confirmation
Michelle/Mark 12
Customer needs not met
Unsatisfied customer, bad grades
Improper understanding of customer needs
Design to Customer Needs and Customer Specifications 13
Loss of team member
Other team members must compensate for additional workload
Health, family, personal reasons -
All of team 14
Unable to protect system components
Safety issues, damaged components, must reorder parts
Improper construction, improper selection of protection, unexpected environmental conditions
Check test location and conditions
Adam/Vulf 15
Incorrect manufacturer specifications
Must reorder, increased lead-time ?
Proper Testing of product
Mark/Adam 16
P12462 unsuccessful
Inability to complete data collection or test functionality of project
Location/space limitations, construction problems, lack of proper control system, leaks
Assign System Integration engineer
Adam/Mark

27. Risk Assessment (cont.)
P12463 SDR
Risk Item
Effect
Cause
Likelihood
Severity
Importance
Action to Minimize
Owner 17
Necessary technology not available for budget allocated
Concept can not be built, limited data accuracy, limited functional precision
Inadequate concept assessment, limited budget, project scope to large 1 3
Adequate brainstorm and decision process to accomplish function, Consult faculty
Andrew/Adam 18
Parts need to be sent out for machining
Unexpected costs, increased lead-time
Improper design, miscalculation, parts require hire precision the RIT capabilities
Proper design and calculation
Vulf/Mark 19
Unable to modify boom length
Unsatisfied customer
Failure of boom adjustment mechanism, poor integration with other function components 2
proper mechanical design, use system diagrams, compare with other existing solutions
Adam/Mark 21
Project parts ordered too late
Testing, integration delayed, miss project deadline
Design analysis miscalculation, improper assumptions for calculations
Use Gantt Chart to monitor progress, double check calculations
Mark/Andrew 22
Inaccurate lead-time from manufacturer
Parts arrive late, Testing, integration delayed, miss project deadline
Shipping delays due to holidays, delays in RIT receiving
Give extra time for parts to arrive, Use Gantt Chart to monitor progress 23
Team dysfunction
Inability to divide out work, decreased communication, incomplete project
Different ideas, strong personalities
Abide by Norms and Values, Consult individuals if problem arises
Mark/Project Guide 24
Project scope too large
May not finish project on time
Project improperly scoped
Work with project guide and customer to show the efforts needed for a successful project
Mark

28. P12463 SDR
Questions? Comments?