Mini-SubRandy DraegerGrant StocktonDavid Upp

Problem Statement As High School students, we have not fully investigated or

implemented the concepts and applications of electronics, fluid dynamics, energy systems, mechanical systems, and calculus in the construction and use of submersible technologies

Research• Ballast Systems• Hull Design• Propulsion Systems• Electronic Control

Servo Power Source Components

Project Scope Research, design and build submersible Deliverables:

Submarine Final Report Final PowerPoint Presentation

Consult Experts: Teachers Hobby Experts Hardware Experts

Less than $400

Criteria Must function underwater Waterproof Electronic components are protected (safety) Movement with 3 degrees of Freedom Ballast System Maintain Neutral Buoyancy [still and motion] Diving range 5-10 ft. (optional) Video Feed (optional) Lighting (optional)

Constraints Limited weight due to buoyancy Limited Budgets ($400) Materials must withstand underwater pressure All materials must run off the same power source with the

voltage drop Depth is limited to tether line

Possibilities Submarine Vs. ROV Ballast Tank Design

Randy’s Design

David’s Design

Grant’s design

Select an approach

Criteria Design 1 (Randy) Design 2 (Grant) Design 3 (David)

3 degrees of freedom

4 3 4

Waterproof 3 5 3Camera Feed 5 3 3Functional (underwater)

1 1 1

Diving range below 4 ft.

1 1 1

Electronics protected

Y Y Y

 Total 14 13 12

Design Saddle Ballast Tank Design

Middle tube is dry 2 outside tubes are the ballast tanks Gas powered ballast

Motors and propellers on outside tubes Camera on middle tube Stabilizing Fin

Construction• Work Process

• Problems

Construction (pictures)

In the navy

Safety Glasses

Prototype• Design

• Propulsion System• Propellers

• Buoyancy System• Problems

• Water Leakage• Center of Gravity vs. Center of Bouyancy

• Design changes• Prop Adapter• Servo orientation

Prototype (pictures)

TEST plan 1 (specs)• Purpose

• Keep submarine within constraints• Procedure

• Measure dimensions• Expected results

• Fit with 2x2x3 • Results

• Fits within dimensions

Test Plan 2 (Propelled buoyancy)

• Purpose• Ensure buoyancy system is operational during motion

• Procedure• Attain neutral buoyancy• Move with obstacle (cage)

• Expected results• Pass with obstacle

• Results• Never attained stationary bouyancy

Test Plan (3 Degrees of freedom)

• Purpose• Verify that submarine moves on all 3 axis

• Procedure• submerge• Move through obstacle • turn• Back through obstacle

• Expected results• Proper navigation through the obstacle course

• Results• Never attained stationary bouyancy

Test plan 4 (video feed)

• Purpose• Check webcam is providing input

• Procedure• Plug in webcam• Use geometric shapes to verify input

• Expected results• Webcam provides input

• Results• Webcam was water damaged

Test plan 5 (Water proof)

Purpose Procedure Expected results Results

Waterproof problems• Problems

• Epoxy and silicon sealant• Fiber glass casing• Re-fitting

Test plan 6 ( Stationary Neutral buoyancy)

• Purpose• Verify buoyancy while not moving

• Procedure• Attain neutral buoyancy• Measure time at neutrally buoyant

• Expected results• Prototype attains neutral buoyancy

• Results• Never attained neutral bouyancy

Test photos

Test conclusions• Waterproofing• Buoyancy Issues• Further Refinements

Refining• Waterproofing• Center of Buoyancy

• Added Weight to Adjust• Water Inertia

• Web Cam view• Tether Tension

• Top Cap Screw• Outer Body

• Fiber glass Shell

Future refinements• Trim tanks• Different Canisters• Propeller Placment

Lessons Learned (Randy)

• Unforeseen Problems• Construction• Importance of calculations

Lessons Learned (Grant)

Water Vs. Grant

Lessons Learned (David)

• Water is a challenge• Importance of physics concepts

Summary