Group Name:
LifeSub Engineering
Group Number:
M14
Group Members:
Ajanthan Asokan
William Barkhouse
Matthew Browne
Stephen Handrigan
Client: Dr. Michael Hinchey
April 1, 2014
Agenda
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Problem Statement
Project Overview
Deployment Strategies
Prototype Design
Manufacturing
Commissioning
Conclusion
Future Work &
Recommendations
 Questions
April 1, 2014
2
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, 2014
3
Project Overview
 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
April 1, 2014
4
Control Sequence
+Φ
-Φ
+θ
-θ
Z1
Z2
April 1, 2014
+Z
5
Deployment Strategies
1. Vertical Deployment
1.
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2.
2. Horizontal Launch
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3.
April 1, 2014
Propeller-down launch
Underwater
Avoid GBS interference
Release bay filled with water
Exit from enclosed piping
3. Horizontal Docking
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Connect with GBS
6
Prototype Design Evolution
Phase 1
 Phase 3
 Propeller Shroud with
Phase 2
Streamline Hub
 Piston Ballast Pumps
 Internal Support
Mounts
 Stepper Motor Sleds
Phase 3
April 1, 2014
7
Prototype Design
 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
April 1, 2014
8
Prototype Design: Internal Mounting
Prototype
 2 Ballast Pump
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SolidWorks Model
¼ "-20 Hex Nuts
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April 1, 2014
¼" -20 Threaded Rod
Mounts
2 Ballast Pumps
2 Support Rings
3 Batteries
1 Circuit Board
2 Stepper Motors
4 ¼”-20 Threaded
Rod
9
Prototype Manufacturing
 Ballast Chamber
 25mm diameter piston
pump
 40mm vertical piston
travel
 Driven by stepper motor
via rack in pinion
10
Prototype Design: Ballast System
Internal Piston Setup
Rod Support Mounts
Piston Ballast Pump
Rack &
Pinion (32 - 3/16”)
April 1, 2014
Stepper Motor &
Sled
11
Pseudo-wiring Diagram
Circuit
* GND
RS-232 DE-9
Female Pinout
MOSFETS
PIC
*
Pressure Sensor,
Accelerometer, etc.
** +5 V
**
GND
Signals 1-6
Signals 1-6
VIN
Stepper Motor
Stepper Motor
Piston
Batteries
Clamp
April 1, 2014
Thruster
12
Prototype Manufacturing
 Hull
 Extruded ABS
Pipe provided by
EMCO
 Completed by
Tech Services
 Ring
 Piston Pumps
Guide/Shroud
 Fabricated from
 RP ABS Plastic
recycled piston
shocks
 Completed by
Tech Services
 Completed by
MTC
13
Commissioning
 Water Control Tests
 Water Tight Hull
 Pre-ballast and leveling
 Dry Control Tests
 Stepper Motor Test
 Thruster Test
 Sensor Test
 Dynamic Balancing
April 1, 2014
14
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, 2014
15
Recommendations and Future Work
 Complete commissioning of active
systems
 Depth
 Pitch
 Thrust
 Complete deployment tests
 Analyze motion
 Make recommendations for viability
of full-scale implementation
April 1, 2014
16
Questions?
Thank-you
www.lifesubengineering.weebly.com
April 1, 2014
17