1998 – 99 NCDA Final Design Report Team 1: Hovercraft May 11, 1999 Brandon Fichera B. Sean Gallagher Gregory Pease David Rabeno Sponsor: Dr. Stephanie Wright Delaware Aerospace Academy Advisor: Dr. Michael Keefe Table of Contents Pg. # I. SUMMARY 2 II. INTRODUCTION 3 III. CUSTOMERS/WANTS/CONSTRAINTS 4 IV. BENCHMARKING 6 V. METRICS 8 VI. CONCEPT GENERATION 10 VII. CONCEPT SELECTION 14 VIII. FABRICATION AND ASSEMBLY 17 IX. TESTING 20 X. RE-DESIGN/SUGGESTED MODIFICATIONS 23 XI. CONCLUSION 24 XII. BUDGET 25 XIII. APPENDICES 26 A. Shapes of Footprint and Sample Calculation B. Educational Poster C. Laboratory Experiment D. Theoretical Work and Graphs E. Hovercraft Safety and Operations Manual F. Engineering Drawings 1 SUMMARY: The purpose of this report is to present a detailed explanation of the work and thought processes that went into our senior design project. Presented here is the final design concept including a background of the project and its complete history. In defining the project, it was important to determine the identities of the people that would have an interest in our design. Once the customers were established, we had to take into account their role in the project and to determine their specific wants. Once this list of customers and wants was developed, the wants were evaluated with respect to customer importance. This was done so that we would be better able to prioritize our efforts. Benchmarking was performed to learn more about the system and its operation. Benchmarking was also used to develop yardsticks for measuring the quality of our design concepts. These yardsticks became metrics, which are what we used to compare our many concept ideas. Before intelligent discussion of ideas could be undertaken, further research was needed. This research consisted of the derivation of relevant equations, discussion with experts and trips to libraries. This deepened the understanding of the mechanics behind the problem. After benchmarking and research, brainstorming sessions were held to generate concepts that met the problem criteria. During these brainstorming sessions, all ideas were considered to be valid, no matter how absurd they might seem. All possibilities were taken in to account. Once the ideas were developed, they were compared to wants and constraints via the metrics. After which, some concept ideas were discarded, some were kept, and some were combined to produce a cohesive design concept that we believe to be the best solution according to the specific problem. The selected concept presents a complete idea for our solution to the problem. 2 INTRODUCTION: Dr. Stephanie Wright, president of the Delaware Aerospace Academy (DAA), has sponsored senior design projects for the past few years. The DAA specializes in educating children about the technology involved in the space program. In teaching, they hope to raise an interest in the United States Space Program by presenting relatively new and interesting technology that has yet to be widely distributed. This year, Dr. Wright desires a hovercraft to be used at the DAA technical camps by students of grades 7 – 9. The hovercraft is to float on a cushion of air and will be used to simulate exploration of a new planet and will also teach certain scientific principles to the students. After discussing the scope of the project with Dr. Wright and other customers, we formed a mission statement, which included our own goals for the design. The statement reads as follows: To design a two person hovercraft for the DAA that will demonstrate the relevant scientific principles involved, simulate planetary exploration, interest children in the space program, and provide a fun, safe and educational environment for everyone involved. The craft will be used as an educational tool to teach scientific principles to children in high school and junior high demonstrations. By utilizing a two-pilot operating system, it teaches teamwork and cooperation. Since hovercrafts are not very widespread, a vehicle that actually floats on a cushion of air should especially intrigue the children. Allowing the children to pilot the craft will make the experience fun. 3 CUSTOMERS/WANTS/CONSTRAINTS: A customer is anyone that would have a substantial interest in the final prototype or design. After talking with our sponsor and considering all of the people who could possibly play a role in the design and final product, we came up with a ranked list of customers. The list is as follows (in order of importance): 1) 2) 3) 4) 5) 6) 7) 8) Dr. Stephanie Wright – DAA Eric Rabeno – Junior High Student (8th grade) Bethany Fichera - High School Student (9th grade) Martin Rabeno – High School Teacher Selina DiCiccio – Junior High Teacher Ron Perkins – Educational Innovations Dr. Robert Bloom – Aerospace Engineer (DAA) Dr. Mark Elison - Principal of Junior High and High School Dr. Wright was the most important customer because her organization sponsored the project, provided the funds and will be the primary user of the hovercraft for demonstrations. Students were the next most important customers because they are the people that should benefit the most from the project. The students’ input was needed to understand how to let them have fun while being educated. In addition to students, other members of the educational community that were our customers are their teachers. After we designed our concept, we had to make sure that high school and junior high school teachers understood what we were trying to accomplish. Since they are professional educators, their input as to how to make the design educational was essential to the success of the project. Educational Innovations supplies lab and science equipment to schools which teachers use to explain certain scientific principles to children. Mr. Perkins, a company representative, is a customer because of the insight he can provide as to what works well and what doesn’t work well as an educational tool. In addition, he provides help with the educational aspect of the mission. The school system superintendents and principals were included as customers because they are concerned with the education of their students. As well as education, their knowledge of what safety considerations were needed for the craft to be considered safe in a school environment proved invaluable. 4 Each of the customers had their own list of functions they wanted the hovercraft to be able to perform. After talking with these customers and discussing each of their wants for the project, it was realized that, for the most part, the customers had many of the same wants on their lists. The ranked wants are listed below. All of the customers wanted the hovercraft to demonstrate scientific principles, to be fun to use, to look like it could be used in outer space, and to be easily maneuverable. Based on the fact that these wants were on all of the customers’ lists, these became our top four wants and are all of relatively equal importance. The last five wants below these on the list (5-9), were only on Dr. Wright’s list of wants and are only about half as important as the top four. 1) 2) 3) 4) 5) 6) 7) 8) 9) Demonstrate scientific principles Make it fun Have it look ‘cool’ Maneuverability Reliability Transportability Reproducibility Durability Affordability We were fortunate in the design process to be able to meet the customers’ wants without having to make many trade-offs. The trade-offs we made were slight. For example, to make the craft cool looking would cost more money, decreasing the craft’s affordability. There were certain things that absolutely could not be sacrificed at any cost. Those items that are not negotiable are constraints. The constraints imposed by the customers and the working area, are listed as follows: 1) 2) 3) 4) Operation (The hovercraft must hover) Allowable Funds ($2000) Size of door in Room 109 Spencer Lab (4.5’ X 6.3’) Number of pilots (must be able to fit two) 5 BENCHMARKING (System and Functional): Benchmarking, a process that continued throughout the duration of the project has proven to be very valuable in the design of the hovercraft. Initial benchmarking was done on a variety of overall hovercraft systems as well as components in order to determine best practices. Initial benchmarking determined that there was not a complete system on the market that satisfied the wants of the specific design problem. The system closest to what was desired is the Triflyer Hovercraft from Robert Q. Riley Enterprises. The Triflyer was able to handle a maximum payload of 800 lbs. (3 people), traveled 75 mph and was 12' x 6'. This design is close to what we were looking for. The size of 12’ x 6’ is roughly about the size we were interested in. 75 mph, however, is significantly faster than what is considered safe as a top speed, according to the customers. In addition, two children in high school or junior high would weigh on the average of 200 lbs. (not the 800 lbs. that the Triflyer was built for). Also, the construction of this model was fairly complicated and would have taken too long to build for the time given. This benchmark is close to what is needed but is overpowered and has slightly too complicated of a shape. Regardless, it still proved to be useful in certain ways. We studied how it was constructed and applied some of its rib structure design to our own craft. Since this system was very close to the desired goal, plans for the Triflyer were ordered and studied for concept and component design. This gave insight as to industry standards for such components as steering, skirt design and typical mounting points for engines and fans. Other benchmarks are shown in the table below. Table1: Benchmarking Company Robert Q. Riley Enterprises (Triflyer) What they offered Complete plans for hovercraft. Robert Q. Riley Enterprises (Pegasus) Round hovercraft plans, max weight 150 lbs. Design has no viable propulsion method. Universal Hovercraft (Kits and components) Costs were well above our budget. They offer fans for lift and thrust. Staff was very helpful. Hoverclub of America Published a variety of articles describing principles of hovercraft such as lift, thrust, and design tips. Hovertech Levitation using electromagnets 6 Universal hovercraft supplies hovercraft kits and components such as fans for personal hovercrafts. Our fan and hub assemblies for lift and thrust company, as well as material for the skirt (neoprene coated nylon) were purchased from this Functional Benchmarking was done on a variety of systems and ideas in order to generate concepts and determine components for the design. Also, functional benchmarking became important in the educational and recreational aspect of the project. We performed searches that would help us become familiar with different teaching methods. Six Flags Amusement Parks and the Smithsonian Air and Space Museum were studied in order to come up with a way to satisfy the wants of educational and fun. Six Flags uses velocity, acceleration, jerk, sounds, and colors in order to make their rides fun for children and adults of all ages. The Air and Space museum takes a more reserved approach towards fun and learning. They use videos, descriptive posters and/or exhibitions, and rely on some hands on demonstrations to facilitate learning and fun. As far as the operational aspect of the hovercraft is concerned, we looked into the different requirements for the hovercraft. These requirements being the lift, thrust, and power requirements for the craft. We looked into engine/fan systems, magnetic levitation systems, and suspension systems as means for providing lift. Different forms of power such as electric, liquid fuel (gas engines), and fuel cells were researched. As far as engines for thrust and lift are concerned, Briggs and Stratton, Tecumseh, and Honda were researched and priced from a variety of distributors, such as Grainger and Northern Tool Supply. In addition to researching different kinds of lift, thrust, and power systems, components such as fans, skirt material, wood and other building materials were also investigated. This was done to get a better idea of the quantity that would need to be ordered. Also, their costs and the lead-time associated with each were important so that we could properly schedule the construction of the hovercraft. 7 METRICS: During the benchmarking process, notes were taken with regard to operation on some of the important items that are normally measured in order to estimate the quality of a hovercraft design. The design can not be compared to competitor’s best practices unless a common yardstick is developed upon which to base the evaluation. By observing what items the competitors measured to determine quality as well as conversing with the customers, a list of metrics for our wants was developed. Once the metrics were established, target values were assigned to them based on the customers wants and the competitor’s values. The list of metrics and their corresponding target values is shown below. Metric 1 Object Clearance (from bottom of Target Value Wants 6 inches 3, 5 Importance Medium craft to ground) 2 Angle of Hover 0 degrees 4 Low 3 Start Time 2 seconds 2, 5 Low 4 Settling Time 1 second Safety Low 5 Height of Oscillations 0 inches 2, 4, 5, Safety 6 Drift velocity 0 feet/second 4 Low 7 Skirt Maintenance hours per use 0 hours per use 7, 8 Low 8 Number of Principles Taught 3 1 High 9 Performance on a lab experiment average score = 80% 1 High Medium Medium (to be explained) 10 Skirt to Ground Clearance 0.5 inches 4 11 Speed of vehicle 5 - 10 mph 2, 4, Safety High 12 Acceleration of vehicle 1 mph/s 2, 4, Safety High 13 Directions of Travel 360 degrees (all 2, 4 High 2, 4 Medium 2, 4 Medium horizontal directions) 14 Travel Range unlimited (limited by fuel capacity alone) 15 Turning Radius 15 meters 8 16 Fuel Efficiency/Capacity 3.5 continuous hours. 5 Low 17 Cost $2000 7, 9 High 18 Weight 1000 lbs. 4, 6, 7 High The importance of a metric is determined by how well it quantifies a want and by how important that want is. 9 CONCEPT GENERATION: This specific design project is unique in that there are more goals involved in the project than simply designing a functional piece of equipment. In addition to using our engineering skills to design a working hovercraft, the wants of our customers require that the design be built in such a manner that teachers will be able to teach the students using the scientific principles involved (lift, thrust and drag). Our customers also want learning these principles to be fun. Therefore, the hovercraft must function in such a manner that will hold the children’s’ interest. As a result of brainstorming and benchmarking, concept ideas were generated that would satisfy the top four wants of education, fun, cool looking, and maneuverability individually. Once concept ideas for each want were obtained, the next stage was to try and combine the most feasible ideas corresponding to each want into a total, cohesive design concept based on the metrics and some calculations. This combining of ideas into one complete design would satisfy the top wants of the problem best according to the metrics and result in a well-balanced final design. It was determined that if the top four wants were satisfied through concept generation, wants 5-9 could be easily satisfied regardless of how we combined the different concept ideas for the top four wants. Since demonstrating scientific principles to children turned out to be one of the four most important wants, we began our concept generation ideas with this want. Because this project is geared towards children, we looked to proven leaders in the field of education during our functional benchmarking. The museums of the Smithsonian Institute are excellent in educating children about all aspects of science. We especially took note of the Air and Space Museum as it is closely related to our project. As a result of the benchmarking done for education, we generated two specific concept ideas for satisfying the wants of teaching scientific principles. The “Smithsonian Approach” is our concept generation for satisfying the first of our three most important wants. Two possible concepts consist of showing either an informative video that describes the scientific principles of lift, thrust, and drag or creating a descriptive poster that explains what hovercrafts are, why they would be useful in the space program, and how they work. To deal with the second and third of our four important wants, making it fun for children, we based our concept generation ideas on the results of our functional benchmarking for fun. Practically all children enjoy going to amusement parks. They love to go on the rides. Therefore, 10 we should attempt to make this hovercraft feel like a “ride” to the children using it. The “Amusement Park Approach” is our concept generation for satisfying this want. Rides at these parks are fun for children because of their colors, shapes, and sounds. By making the hovercraft look like a machine that would be used in outer space, and by using the proper colors and shapes, kids will be intrigued and interested in knowing how it works and what they could do with it. Therefore, the idea is to use the right colors and shapes to make the children feel like they’re on a ride. Our fourth important want, maneuverability, deals with the physical functioning of the hovercraft itself. This is the part of our project, the design of the actual prototype hovercraft, which will best utilize the engineering tools we’ve acquired over the past four years. Concept generation for this portion of our project deals with the overall functioning and construction of the craft itself and its concepts will be used to satisfy wants 4-9. In designing the actual hovercraft for good maneuverability, durability, transportability, and reliability, concepts have to be generated in a number of areas. These areas are lift system, thrust system, means of providing power, skirt type, shape of the craft, steering system, and pilot positioning. As far as the lift system is concerned, fans, magnets, and suspension systems were researched and discussed briefly in the functional benchmarking section. One concept was to have magnets on the ground along with opposing ones on the craft. The magnets would repel each other and lift the craft. Suspension systems could be used to provide “lift” by suspending the craft above the ground by means of a cable attached to the frame. One concept studied, and engine/fan system, turned out to be the most common, cheapest, and simplest method for providing the lift forces. Thrust is another area where we had to generate concepts. Benchmarking showed that like the lift system, an engine/fan system used for thrust seemed to be the best practice. Other possible thrust methods would be to have the craft pulled/pushed by another person, or use some sort of jet propulsion. Jet propulsion is dangerous and expensive and human power for thrust would not do as well as a fan in demonstrating the principle of thrust. As far as power generation is concerned, concepts using liquid fuel, batteries, and fuel cells were studied. It turns out that fuel cells are costly but provide a great deal of clean energy. Batteries are inexpensive but are heavy and might be detrimental to our lifting capabilities. Liquid fuels are abundant, lightweight and inexpensive and seem to be a good choice. 11 Another area that affects the overall maneuverability of the craft, and one that goes along with the lift system is the type of skirt to be used around the bottom to keep air trapped under the craft. Two concept ideas were generated for the skirt design. The first is a bag skirt, which is a lot like an inflated inner tube under the craft. The second is a C skirt, which is a piece of material draped along the craft much like a tablecloth. Bag skirts allow for a more complex shape. The C skirt has a few drawbacks. It is a more unstable system because it has the tendency to flap out, releasing air and lowering the craft. In addition, objects passing under the craft have a tendency to be picked up by the skirt. This increases the possibility of ripping the skirt and, if the object is heavy enough, the possibility that the craft will abruptly stop. Shape is another important consideration in concept generation with regard to maneuverability and function. An important aspect that is inherent in the shape picked is the perimeter surface area under the craft. This quantity comes into play in determining the air pressure under the craft. The pressure multiplied by the bottom perimeter surface area limits the lifting weight. A number of shapes were looked at when considering the design of the footprint. The main concern with shape would be in obtaining one so that the area under the craft allowed for a relatively small air pressure required. Also, an overall perimeter shape has to be chosen that can be constructed in such a manner as to provide good durability for the craft. Several shapes considered are included in Appendix A along with a sample pressure calculation. When one thinks of maneuverability, one of the first things that come to mind should be steering. Steering could be done a number of ways. It could be done with a rudder system, by having multiple fans that rotate to change the direction of airflow, or by having multiple fans that 12 use different thrust configurations to turn the craft. The second and third options would be more expensive and also would be difficult to construct so that a high school student would be able to control the hovercraft. Pilot positioning was also a concern. The pilots could be positioned one behind the other or side by side. The craft needs to hover almost exactly horizontal so that a level gap height from craft to ground is achieved. In addition to making it harder to balance the craft, positioning the pilots front and back would make it so that one pilot would probably have to control the lift, steering and thrust exclusively since all controls will be on a dashboard in the front of the craft. Positioning the pilots side by side would allow both pilots to easily access the controls. It would also allow for the best weight distribution needed to balance the hovercraft. The craft needs to be level if we are to satisfy the maneuverability want. The air rushing out from under the craft in the second drawing below would detract from the overall hovering capability of the craft. In order for the craft to hover at a constant height (h), the air pushed underneath by the lift fan must remain trapped under the craft. Once air begins to rush out from under the craft unevenly, equilibrium is disrupted and the craft will no longer function as designed. 13 CONCEPT SELECTION: With all of the concept ideas just described as possible means of satisfying each of wants, it became a matter of studying our metrics and constraints to determine the best way to combine all concepts into one cohesive solution. The idea is to choose one concept for satisfying each want based on the metrics and then combine each of the concepts into one complete design for a fun, cool looking, educational, and maneuverable hovercraft. Arriving at a complete design concept that would satisfy each of the four most important wants proved to be easy to accomplish. Our final design concept consists of three parts. The first part of our final concept is an educational poster that will be displayed near the hovercraft demonstration area so that students can look at it. It discusses what hovercrafts can be used for, how they relate to the space program, and also the scientific principles our prototype relies on for successful operation (slides are located in Appendix B). Also included is a laboratory experiment to be performed on the concept of lift (located in Appendix C) which will give the children hands on experience that the Smithsonian Institute does so well. These two portions of our final concept will demonstrate to the children the relative scientific principles involved. Finally, piloting the actual hovercraft will allow the children to see everything the first two items has taught them and, in addition, will satisfy wants 2 and 4-9. They will be able to take the information from the poster and experiment and apply it to a working hovercraft that will provide plenty of excitement. The teachers on our customer list, Dr. Wright, and our design team feel that students will learn the most by reading the poster and performing the lab before operating the hovercraft. The poster itself explains two scientific principles: lift and thrust. In addition to studying the poster, the students will build a simple hovercraft themselves in the short laboratory experiment. The lab is designed to show how lifting force, air pressure, and footprint sizes are related. The students can get a sense of the drag force by pushing the model hovercraft along different surfaces and see how far it travels before coming to a stop. With these three scientific principles explained (thrust, lift, and drag), our metric dealing with the want of education has been satisfied and the proper number of principles taught according to our target value of three. Another metric to measure the educational value of our project is performance on the laboratory experiment. We had a target value of 80% as an average grade for a class of students. It turns out that this metric 14 was satisfied by the final laboratory experiment submitted as Appendix C and is a good means for measuring understanding. The average grade on the lab was approximately 85%. After studying the poster and performing the experiment, students will be allowed to ride the prototype hovercraft with a better understanding of its working principles. The prototype hovercraft is the third part of our complete design concept. The prototype is a 10-ft long, 6-ft wide and 2-ft deep box. A semi-complete picture of what the prototype looks like is the picture on the title page of this report. Assembly and component drawings are shown in Appendix F. This shape was picked because of the footprint. It optimized the area underneath the craft for the lift system. By optimizing this area and perimeter, we were able to get the maximum lift for our craft. This lift allowed the craft to hover a full 5.5” off the ground. Height of hovering (object clearance) was listed as one of our metrics and this footprint shape would allow us to maximize the height of hovering. The lifting is done with a single fan and vertical shaft engine located in the front of hovercraft. A fan system was chosen over a magnetic system due to the cost restriction on the project as indicated in the metrics. In addition, the magnetic system did not allow unlimited planar range. It also might limit the directions of travel, as the magnets would already have to be placed on the ground in direction to be explored. Suspension systems were eliminated for one major reason: the craft would not be hovering. Since hovering is one of our constraints, this idea had to be discarded. Thus, we chose the engine/fan system as the best of our options based on the wants and metrics of cost, directions of travel, object clearance, planar range, and the “hovering” constraint. Calculations for the lift system are located in Appendix D. We determined the lift fan diameter, after consulting with Universal Hovercraft. According to their calculations, the fan needed to lift the estimated weight of our craft with an 8 HP motor is 26" in diameter and has four blades. The lift engine is mounted in the front of the craft above the fan. The location for the engine was determined by examining competitors best practices. By positioning the lift system in the front, the angle of hover (metric #2) was best satisfied by providing maximum balance. For the thrust system, another fan and a 3.5 HP horizontal shaft motor on the back of the hovercraft will accomplish the thrust for the craft according to our theoretical calculations (Appendix D). This is not only industry standard, but it is also the best practice for what we seek. 15 According to our calculations, a 3.5 HP motor will satisfy the metrics and target values for top speed and acceleration. Concept selection for means of power led us to choose gas power over electric power or fuel cells due to the high cost of the latter two. An engine/fan system would be the lightest system and was chosen to maximize our metric of hovering height. An 8 HP gas engine costs about $400 and weighs about 60 lbs. The batteries to operate an equivalent electric motor weigh twice as much and replacement batteries are expensive. Fuel cells were eliminated on cost alone. A fuel cell to power an electric motor costs in the tens of thousands of dollars. As far as skirts are concerned, a bag skirt had fewer drawbacks than the C skirt. It was chosen based on the balance (angle of hover) metric, object clearance metric, and the maintenance hours metric. In the final design, we decided to position the pilots side by side. If the pilots were positioned front to back, the pilot’s compartment would have to be longer. With a design longer than the current one, the prototype would not be able to leave the Senior Design Room. Therefore, the pilot positioning was determined partly by our size constraint. Balancing any difference in weight between the pilots can be compensated with weights under the seat and a better angle of hover is achieved with side by side seating. Maneuvering of the craft is done by a rudder system attached to the rear of the thrust fan assembly. The two rudders will be coupled and the steering system for the rudders is assembled so that the steering “column” will be on the dashboard and accessible by either pilot. It appears to be the best way to satisfy the turning radius metric of 15 ft. with a top speed of 10 mph. This will also allow for teamwork as both the steering and the lift throttle will be placed on the “dashboard” allowing each pilot to operate one of the two systems. Each concept selected for building the prototype was done by taking our metrics into account and comparing the different ideas. Based on the metrics and target values, we believe that the prototype constructed is the best solution to the wants on our list dealing with the operation of the hovercraft (wants 2, and 4-9). 16 FABRICATION AND ASSEMBLY: The final development and fabrication times Engineering Concept Development 110 hours Fabrication 610 hours Redesign and Modification 20 hours TOTAL: 740 hours The frame of the hovercraft is a rib structure designed to be lightweight and strong at the same time. The ribs were constructed with 1” x 2” pine. A template was laid out on a piece of plywood and the pine was cut and made into kits for each rib. The template was then used to construct the ribs (drawing No. 2) and ensure all ribs came out to be the same dimensions. The template was then modified to allow for the construction of the second type of rib used (drawing No. 3) in the driver compartment and also the third type used at both ends (drawing No. 1). Once all the ribs were constructed, the next step was to hang the ribs on two 2” x 4” x 10’ stringers (see drawing No. 5). The ribs were spaced out according to the drawings and attached to these stringers. Next, the 10’ x 1” x 2” stringers were put in to place. This was followed by the installment of the rest of the members used for support around the lift and thrust fans. The craft was then turned so the bottom was face up and ¼” plywood was used to cover the entire bottom. One piece contained a 30” diameter hole, cut on a CNC router for accuracy, to accommodate the lift duct. Bondo was then applied at the seams to help make the bottom airtight. Once this was done the wood was sealed with a polyester resin and the skids were installed. Upon the completion of the bottom, the craft was turned right side up. The crew compartment’s bottom was covered with ¼” plywood and 1/8” Luan applied over the rest of the craft. Bodywork was done with joint compound and Bondo to even out the body and give it a more professional appearance. 17 The skirt was fabricated using the material obtained from Universal Hovercraft. The material was cut (drawing No.10) and then sewn together using Kevlar thread and super-glue to create the corners. Sheet metal screws were used to attach the skirt to the craft. A small flap of material was placed over a portion of the lift duct to direct some air from the lift fan into the bag skirt. The lift duct was created using a roll of aluminum flashing. The aluminum was wrapped four times and machine screws were used to help it keep its shape. This duct was then placed in the two 30” holes and ran through the entire craft. The lift engine was mounted to a composite plate made of vinyl-ester resin, 3 layers of 24oz woven roving E-glass, a ¼” balsa core and then 3 more layers of E-glass. This was then mounted to two pieces of angle iron used to span the lift duct. The fan was mounted to the engine shaft using the hub provided by Universal Hovercraft and a 1in. diameter split taper bushing. At this point the first lift test was successfully conducted with one person in the craft. A windshield was constructed next using pultruded fiberglass box beams and a piece of polycarbonate. This was attached with four bolts keeping in mind it would need to be removed in order to remove the craft from the room. Two boat seats were installed side by side in the crew compartment for the pilots. Also, the controls for the lift and thrust fans and the steering system were mounted on a “dashboard” so that the two pilots could work together to operate the three systems. In order to allow the craft to be removed from the building, the thrust housing was required to be removable. The box to contain the fan was made with 1” x 6” pine. A ¼” x ¼” protective screen was placed over the outer opening. All of this was attached to a piece of ¼” plywood. This assembly is bolted to the craft to allow the assembly to be removable (see drawing No.8-9). The thrust motor was placed above the back of the hovercraft on a box 8” high to allow the fan to be centered in the housing. The two rudders were made from 1” Styrofoam. The steering is done by sliding the handle in the “dashboard” from right to left depending on the desired direction of travel. This is attached to the rudders using ¼” nylon cord. The entire craft was next painted with a semi-gloss black paint. After this was complete, yellow caution labeling was applied to areas that were dangerous. The construction was completed with the mounting of a fire extinguisher. After the hovercraft is removed from the senior design room and before the craft is delivered, safety screens will be placed over the front 18 lift fan and also the remaining portion of the thrust assembly. 19 TESTING/RESULTS: 1) Hovering Capability Weight Craft bottom to ground clearance Just Craft Trial 1 Trial 2 Trial 3 Average 50 lbs. 6" 6" 6" 6" 100 lbs. 6" 6" 6" 6" 150 lbs. 5.8" 5.5" 5.75" 5.68 200 lbs. 5.75" 5.6" 5.5" 5.62 250 lbs. 5" 5.25" 5" 5.08 300 lbs. 4.25" 4.33" 4.2" 4.26 2) Approx. angle of hover We found that getting the craft to hover flat is just a matter of balancing it. With two pilots of relatively equal weight, the craft hovers almost exactly horizontal. 4) Time it takes craft to settle after shutting engine off Time Trial # 1 pilot 2 pilots 1 1 sec. 1 sec. 2 1 sec. 1 sec. 3 1 sec. 1 sec. 4 1 sec. 1 sec. 5 1 sec. 1 sec. * We found that as soon as the engine is cut, the craft settles down on its skids pretty quickly. It is not so sudden as to deter from the safety of the craft 5) Stability Height of Oscillations Small to nothing. With the throttle in one position, 3) Amount of time from when the engine starts until it is hovering 6) Does the craft hover in place or does it tend to go in a certain direction? Time Trial # 1 2 3 4 5 1 pilot 2 sec. 3.5 sec. 4 sec. 2.5 sec. 2.5 sec. the craft will hover at a constant height 2 pilots 3 sec. 3.5 sec. 2.5 sec. 2 sec. 3 sec. This depends on two factors: wind and terrain. On perfectly flat ground with no wind, the craft hovers in place. With hills and wind, the craft tends to move. * Basically, the time it takes the craft fully rise depends on how the pilot operates the throttle. 7) Do we have to adjust the skirt each time we start it or will it hover by simply starting the fan? The hovercraft will rest on the skids so that the skirt does not have to be adjusted each Metric Test Results Explanation 8) Number Principles Grade School 1- lift See paragraph below Taught Demo 2 – lift, thrust See paragraph below University Demo 9) Performance on Lab Grade School experiment Demonstration Children performed laboratory 85% Average and quiz experiment and were graded by team to determine understanding 20 10) Skirt to Ground Tested 0.5” While hovering, clearance was Clearance measured manually with a scale on all sides of the craft. Values were averaged. It was found that the weight of passengers did not affect the clearance significantly. 11) Speed of Vehicle Not Tested See paragraph below for explanation of missing test results 12) Acceleration of Vehicle Not Tested See paragraph below for explanation of missing test results 13) Directions of Travel Not Tested See paragraph below for explanation of missing test results 14) Travel Range Tested Range limited by During testing, no unexplained only physical engine shutoffs, skirt failures. obstacles and fuel 15) Turning Radius Not Tested See paragraph below for explanation of missing test results 16) Fuel Efficiency Lift Engine – 5 hours Tested Thrust Engine with fuel, burned them for a 25 hours Lift Engine – 1 gallon fuel needed to fill it up again. This gave us a value of gallons Tested Thrust Engine prescribed amount of time, and then took note of the amount of - Tested Fuel Capacity We filled both engines to capacity ½ gallon per hour - Tested 17) Cost N/A $1779.36 See part XII, Budget 18) Weight Empty Craft 425 lbs. Empty weight of craft measured Weight with scale 21 Education and Fun: To determine the final result and overall effectiveness of the lab and poster in providing a means of learning, we have gone through several iterations of each. The poster and laboratory model were brought into a classroom where verbal feedback and reactions from the students helped us to make the necessary changes to both items. When we first showed the students our working model from the lab, all of them crowded around it and wanted to touch it and push it. Several students asked how to build it and wanted to try making a miniature model on their own time. In addition to the model, the students told us they liked the poster and that it explained the lift and thrust principles to them in a manner they could understand. Based on the results of talking to several students and their teacher, the presentation of important concepts has been altered until optimal understanding was obtained. An average score on the lab experiment determined optimal understanding. This was one of our metrics. The average score we obtained from the students was 85% and our target value was 80%. This means that the metric of measuring understanding of the lab and hovercraft principles was satisfied as well as our metric for demonstrating three scientific principles. Thrust: Since the thrust fan was not the proper kind, the thrust force needed to move the craft was tested using a scale to measure the force required to get it moving. It was found that the calculations for the thrust (in Appendix D) were indeed accurate. With 300lbs in addition to the empty weight of the craft (roughly the weight of two pilots), 60lbs of force was required to move forward and only 15lbs of force was required to turn. These values were obtained empirically by pushing on the craft with a scale and noting the amount of force on the scale when the craft began to move. It is our engineering estimation that when we receive a thrust fan pitched in the right direction that our craft would satisfy the thrust metrics of top speed, acceleration, turning radius, directions of travel, and planar range. 22 RE-DESIGN/SUGGESTED MODIFICATIONS: During the testing of the lift system it was noticed that the lift fan had risen up the shaft and was rubbing against the engine support plate. To prevent this from happening again a 1” bronze collar was placed on the shaft above the hub for the fan. This will prevent the hub from hitting the engine plate again. A new engine plate was also fabricated to replace the damaged plate. The thrust fan, which had been donated to the project, turned out to be pitched wrong for the motor set-up. The fan needed to push air when turned clockwise, but instead the fan pulled air. To rectify this, a new fan was ordered with the correct pitch that would work based mainly upon our theoretical calculations (Appendix D) and also on our testing results using the scale. Depending on the weight of the pilots, ballast must be added to compensate. This can be changed during operation to allow the craft to float level. Water jugs can be placed in the front of the craft to allow for extra weight. A complete operation and safety manual is to be submitted to the sponsor as part complete design. This manual is located in Appendix E and will be delivered to the primary customer with the hovercraft. 23 CONCLUSION: The task of constructing a prototype hovercraft according to Dr. Stephanie Wright’s wants that satisfied our mission statement has proven to be a successful one. With only one minor setback, we satisfied all of our wants according to the problem definition. The first three wants, demonstrate scientific principles, fun, and cool looking, were satisfied well according to the feedback received from our sponsor, the students, and teachers. The most significant accomplishment of the project was being able to theoretically design a mechanism for lifting the hovercraft to a desired height according to our desired weight and then having the assembly work almost exactly how we designed it. The desired height of hovering with two children (from base of craft to ground) was listed in the metrics as 6”. Upon testing of the lift system, it was found that with the equivalent weight of two students, the craft hovered at a height of 5.25”. This is very close to our target value. The only setback came with the discovery that the fan we were going to use for thrust force was pitched the wrong way. This combined with the fact that the thrust engine did not work initially and had to be repaired did not leave enough time before the final presentation to have a new fan delivered and the thrust system tested using the fan/motor combination. However, to compensate for this, we used scales to test the amount of actual thrust force needed to move the craft and to turn the craft. We discovered during these tests that our theoretical calculations for thrust force were accurate and also found out that it would only take 15 lbs. of force to turn the craft. This number also coincides well with the theoretical calculations, which can be found in Appendix D. With these test results, we were able to order a new thrust fan that will satisfy the thrust requirements and finalize the project. With the completion of the thrust system, we will have satisfied all the wants given to us by the customers. The one concern when starting the project was the relatively small budget of $2,000 dollars. After careful benchmarking and research, we were able to come up with and construct a complete solution for $1779.36, which is under budget. Before we began working on the project, we all thought it sounded pretty interesting. Only now that it is complete can we fathom how important and educational the whole process has been. We can now look back on all our initial expectations and worries and take pride in the fact that we were able to design a complete solution to the problem assigned. 24 BUDGET: The final budget report for the project is as follows: Materials (Wood, Hardware) Lift fan, Skirt, Hub 8hp Lift Engine Thrust Fan 3.5hp Thrust Engine TOTAL: $ 734.45 $ 361.22 $ 358.70 $ 157.00 $ 167.99 $1779.36 The estimated cost for production of a similar craft is the Projected Production Cost and is as follows: Total Material Costs: - $1779.36 Estimated Production Hours: - 200 hours - $25/hr Projected Cost = $5000 + $1779.36 = $6779.36 25 Appendix A: Shapes of Footprint and Sample Calculation Sample Calculation for rectangle: Area = length x width = 10 x 6 = 60 ft2 = 8640 in2 Weight = 2000 lbs. (Weight from metrics with a factor of safety of 2) Cushion Pressure = Weight/Area = 2000 lbs./8640 in2 = 0.231 lbs./in2 26 Appendix B: Slides for Educational Poster 27 B a ck g ro u n d : – A h over craf t is a vehicle tha t is rais ed off th e gr oun d by a sm all cus hio n of air an d can b e dr iven a rou nd lik e a c ar. T he lif t, sp eed , an d direction of a ho ver craf t c an be co ntr olled in m any w ays. On e of the se way s is by th e use of po wer ful fa ns and m oto rs – EXPLORATION In the future, it may be possible for people to land on another planet in our solar system. View of Venus The hovercraft is a prototype of a vehicle that could be used to explore and study the surface of planets other than our own. The advantage of a hovercraft is that it floats. Since we do not yet completely know what the surfaces of some planets are like, the cushion of air will help avoid small obstacles and allow for easier maneuvering. Surface of Mars 28 H ow It W orks... L if t: T h e li ft fa n b lo w s a ir th ro u gh a n op e n in g a n d u n de r th e c ra ft w he r e it is m o s tly e nc l o se d by a s k irt . Th e tra p p ed a ir p ro d uc e s p re s s u re on t h e s u rfa c e l ift in g th e c ra ft a nd c a u s in g it to flo a t. T h e p re s s ur e n e e de d t o li ft th e c r af t is o b ta in e d fr om th e e q u a ti on P = F /A . T h e P = a ir p re s s u re u n de r th e c ra f t. T he F = w e ig h t of th e cr a ft pl u s p il ot s a n d A = a re a o f th e c ra f t. It is its le n g th ti m e s i ts w id th . Lifting of Hovercraft Air Flow Direction of Travel T hru st & S tee ring: N ew ton’ s L aws of Ph ysi cs - E v e r y fo r ce i s o p p o s ed b y a n eq u a l an d o p p o si t e re a cti on f o rc e The th ru st f an and en g ine f orce a ir b ackw ards . Thi s caus es an e qual an d op posi te force on the h ov ercraft push ing it fo rw ard. A ls o, the rudder s t urn t o push the air in one direc tio n causi ng the ho verc raft to go in the oppo sit e directio n 29 Appendix C: Lab Demonstration of Lift System for AntiGravity Vehicles Purpose: It is important to understand the scientific principle of lift in any vehicle that is freefloating or built specifically to defy gravity. The purpose of this experiment is to learn about how a free floating vehicle actually “defies” gravity. It will be important to understand the relationship between surface area of the vehicle, the weight of the vehicle and the air pressure developed between the vehicle and the ground. This experiment will provide the information necessary to understand the concept of lift. Theory and Background: Anti-gravity vehicles have become an area of great interest recently. Some people build them at home as a hobby much like go-carts. There are also important scientific uses for hovercrafts and other free-floating vehicles. The present level of scientific technology is so advanced that NASA and separate state space programs and space camps would have very important uses for an anti-gravity hovercraft. One of the uses is to use a hovercraft to explore unknown places on a planet. Astronauts that land on a planet for the first time would not be able to completely know what the terrain is like before they land. Because of this fact, a vehicle that hovers off of the ground may be a better way to explore that planet in case it is difficult to drive a vehicle with wheels. The Delaware Aerospace Academy will demonstrate a life size hovercraft that was designed for the purpose of showing how planetary exploration would take place. By performing this experiment before viewing the demonstration, you will better understand how the hovercraft actually lifts off the ground and how it works. The equation that is important in figuring out if a hovercraft will actually hover is F = (P) X (A). In this equation, F = weight of the hovercraft plus passengers (the force needed to lift the hovercraft). A = the surface area on the bottom of the hovercraft (in this experiment the hovercraft is a rectangle and its A = length X width. And the P = air pressure between the hovercraft and the ground. Its units are force per unit area. You will construct hovercrafts of different weight (F) and area (A) and find the air pressure needed to cause lift. 30 Necessary Equipment: - Two standard 3” computer cooling fans (12VDC, .13Amps, 1.60Watts) - One 12 Volt DC battery - Two pieces of polystyrene poster-board 9” X 16” - Eight strips of pre-cut plastic (trash bag material) - Four 16” strips, two 9” strips, and two 18” strips - Masking Tape - A set of small weights totaling about 4 lbs. Procedure: 1) Using the piece of poster-board with the computer fans attached (holes will be precut in the poster-board with computer fans taped into them), tape one 9” piece of plastic to each shorter edge of the poster-board. Then, use the two 16” strips of plastic and tape those to the longer edges of the poster-board. Turn the poster-board over and use one piece of tape at each corner to attach the plastic strips as shown in figure 1 on the next page. 2) Before you turn the fans on, you must make sure the hovercraft is right-side up and all the loose ends of plastic are tucked under the craft. Then, hook the red wires on the fans to the positive (+) terminal of the battery. Then hook the black wires to the negative (-) terminal. Observe what happens. Does the hovercraft lift off the table? If it lifts, try putting some small weights on the poster-board away from the fans. If it lifts, write down the largest amount of weight it can hold up (and add this value to the weight of the hovercraft which is 1 lb.). The area A = 16” X 9” = 144 inches squared. With this weight (F) and area (A), use the equation F = P X A to calculate the air pressure. If it does not lift at all, move on to the next part. 3) Take the pieces of plastic off and tape the other piece of poster board onto the first one. Now use the two 18” pieces of plastic on the edges you used the 9” pieces on before and put the two 16” pieces on the other two edges as in figure 2. Then tape the corners as before and use the fans to try and lift the new set up. Again, add different weights to the hovercraft away from the fans. Does this one lift? Does this hovercraft lift better than the first one? Write down the largest amount of weight it can lift this time (remember to add the weight of this craft which is 1.25 lbs.). The area for this craft is A = 288 inches squared. Calculate the value of air pressure for this hovercraft. 4) Based on what you saw for the two hovercrafts, which one seemed to work better? Which one had a lower value of air pressure (P)? What can you say about the relationship between the value of P and how well the hovercraft works? 31 FIGURE 1 Top View Bottom View FIGURE 2 Top View 32 Appendix D: Theoretical Work and Graphs Equations Used And Derivation of Power Equation: Conservation of Energy and Conservation of Mass from the fluid mechanics perspective is used throughout. P3 V 23 V 22 gz 2 gz3 2 2 V 21 P 2 V 22 gz1 gz 2 ws 2 2 P2 P1 Steady-Flow Energy Equation 1 – 2 Bernoulli’s Equation 2 – 3 The principle of lift of a hovercraft is fairly straight forward. Using a fan, air (from area 1) is put into the plennum chamber under the craft (denoted as area 2 ). This chamber acts as a pressure vessel. When the pressure inside is high enough, the craft will lift off the ground. With the craft off the ground, air now has a chance to escape around the perimeter (shown as area 3 ). We needed a way to model this problem. After consulting woth Dr. Ajay Prasad, we found that we only need to use one equation: the Steady-Flow Energy Equation. This equation reduces to the Bernoulli Equation when there is no work being done. To use this equation, we made several assumptions. First, we assumed that there would be no losses due to friction on the air intake. We believe that this is a valid assumption because the surface roughness to the intake diameter is very small. Second, we ignored gravitational effects on the air. This assumption was used because the height from the top of the craft is twothirds of a meter. This contribution is dwarfed by the other factors. The third assumption we made was that we could approximate the velocity of the air in the plennum chamber to be zero. 33 We know that its velocity is indeed not zero, but Dr. Prasad assured us that it is still a valid assumption. Fourthlt, The hovercraft manufacturers we talked to told us that hovercrafts typically have a half of an inch(about 1.5cm) gap between the perimeter of the skirt and the ground. We assumed this height. Finally, we used gague pressure in all of our derivations. This is not an assumption, per se, but it allowed simplification in our derivation. After some manipulation of the Steady-Flow Energy Equation and using the equations under the heading ‘Other Useful Equations’, we derived the three relevant equations. The equations are for pressure, volumetric flow rate and power. Pressure and flow rate were absolutely necessary for fan selection. The power equation allowed us to specify a power plant/engine. The graphs that follow were created from these equations combined into a single equation. The graphs plot power versus length and width for a given gap height and gap height versus length and width for a given power. These graphs allowed us to get a better ‘feel’ of how the equations work together. We wanted the smallest engine that could lift the craft and not violate our size metrics. The equation used for finding the thrust required could not be easier. The equation is simply Newton’s Second Law: F=ma. We had a weight from the metrics. It needed to be converted to mass. Then, this mass is multiplied by the acceleration, also from the metrics. The result is shown below. weight ws From Energy Equation: A From Bernoulli’s Equation: V3 2P2 A lw m Q Other useful Equations: Aperimeter h(l w) Final Relevant Equations: P Wweight A Wweight lw Q V3 Aperimeter 2(l w) 2Wweight lw 3 Wweight W w s m 2(l w) (lw)3 Thrust Equations & Calculations: F Ma W M go W = 1000lbs. (from Metrics) a = 1.5 ft/s2 (from Metrics) 34 go = 32.2 ft/s2 Thrust Force Required = 60lbs. 35 Figure 1 : Gap Height = 1.0cm Figure 2 : Gap Height = 1.5cm Figure 3 : HP = 8 Figure 5 : HP = 6 Figure 4 : HP = 7 36 APPENDIX E: Hovercraft Safety and Operations Manual 37 Safety Suggestions: Please use caution when operating or standing close to the hovercraft. It is suggested that safety glasses and hearing protection be worn during operation for all pilots and adult spotters. Please use in a flat open area with adult supervision at all times. A fire extinguisher is located at the back right corner of the craft in the case of an emergency. The hovercraft’s direction can change depending on terrain, for this reason an adult must stay close to the hovercraft and act as a spotter. Because of the little force required to move the craft, an adult near the hovercraft can simply hold the side of the hovercraft to steady its position and allow the pilots to recover. All stopping mechanisms are located near the sides of the craft to allow the engines to be shut down easily in the event of a problem. Operation: The craft is designed to hold two pilots: one to control the lift and throttle and one to control the direction. These two pilots should be close to the same weight and the total weight should be less than 300 lbs. for optimal performance. Starting the hovercraft: 1) Enter the craft from the sides, stepping only on the panels labeled ‘step’. 2) Make sure both pilots are seated and familiar with the operation of the craft. 3) Do an inspection check of the craft including: a) Both engines and fans b) All screens. To be sure they are in place and secure. c) The wiring to be sure all wires are connected. d) The skirt for tears and holes. 4) Starting the thrust engine: Set the bottom lever to choke and the top lever to fast. Pull the cord to start the engine, once started move the bottom lever to run and the top to slow. 38 5) Starting the lift engine: Pull the throttle one half inch from its base; then, turn the key to the right. Once the engine starts to run, pull the throttle level up slightly. Then adjust until you can here the engine run at its highest speed. Caution. Pushing the throttle all the way forward will shut the engine off. Note: Turning the key to the off position will always shut the engine off. 6) Once hovering set the thrust engine to desired speed (top lever). 7) Steering is accomplished through the moving of the rudder stick located in the dash. Remember: Moving the rudder to the left will make the craft’s rear travel to the right. Centering the controls will then move the craft it the desired direction. This it also true for the reverse direction. Shutting down the hovercraft: 1) Shut down thrust engine by moving the top lever to the stop position. Do not move the lever to choke to shut the engine off. 2) Shut down the lift engine by turning the key to the off position (turning to the left). 3) Once both the lift and thrust fans have stopped it is safe to exit the craft. 4) Exit the craft be standing and then stepping on the panel labeled “step”. Gas and Oil: Both the lift and thrust engines can be filled with regular unleaded gas. Both the lift and thrust engines run on SAE 30 motor oil, which is available at most auto-part stores and gas stations. Both gas and oil levels should be checked frequently. Both engines should have their oil changed after the first 5hrs. of use. Thereafter, follow the maintenance suggested in the manuals located at the end of this document. Maintenance: A) Tools possibly needed: ½" open ended wrench ½" socket drive 39 Flat head screwdriver Phillips head screwdriver Staple Gun with staples B) Both the lift and thrust engine manuals are located at the end of this manual. These contain the maintenance schedules and also a trouble-shooting guide for each engine. If there are any problems with the engine that can not be solved by consulting these manuals, contact Charlie’s Equipment Service at the below address. Charlie’s Equipment Service 14-B2 Albe Drive Newark DE 19702 (302) 738-5664 C) The battery for the electric start is located at the front of the craft just inside the access panels. Wiring diagrams are provided at the end of this manual. D) All bolts used on the hovercraft are 5/16" in diameter. The length varies with location, however all are equipped with two washers, a single lock washer and one nut. Should one be lost or broken any hardware store will carry replacements. E) Frequently check all protective screens to ensure they are properly secured. If any area is unsecured re-staple the screen in place. If it becomes necessary to replace a screen the grid spacing is ¼" x ¼". F) If the body of the hovercraft is damaged in anyway it can be repaired with joint compound or Bondo. Simply fill the damaged area, and once dry sand smooth. Clean the area prior to painting with a semi-gloss black paint. G) Should the skirt become torn or damaged it can be repaired with an inner tube patch kit in most cases. If the tear is large, take extra skirt material and sew and glue a patch in place. This may require the removal of a portion of the skirt. Remove the screws that hold the skirt in place to do this. After the repair is made replace the 40 screws and skirt as close to the original position as possible, this will ensure the skirt remains efficient. Extra skirt material can be obtained from: Universal Hovercraft Box 281 Cordova, IL 61242 Phone: (309) 654 – 2588 H) Periodically check the location of the lift and thrust fans. For the lift make sure the ductwork is in place and no parts have worked loose. Check the attachment of the fan hub to the shaft, make sure that no parts are rubbing or in danger of binding. For the thrust fan, check to make sure the fan is not hitting the protective screens. 41 APPENDIX F: Engineering Drawings 42 43 44 45 46 47 48 49 50 51 52 53 54