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UCSD Human Powered UCSD Human Powered Submarine Team – Odin’S RageSubmarine Team – Odin’S Rage
20092009
Team HistoryTeam History
1999 – 2000: “Subsonic” Set new world record speed of 3.47 knots
Unique non-propeller driven design. Utilized a “dolphin tail” motion
Project ManagementProject Management
Team Plan– Use Brand New Hull– Divide the project into
parts and create responsible groups• Drive Train• Steering• Fin
Hull Hull
5 layers of fiberglass Cured with “Sun-rez”
UV cured resin Acrylic windows
Additional 2 layers around belt for strength
Knee and Heel blisters to reduce volume
Drive Train DesignDrive Train Design
Using SolidWorks Cad Software helped us design for simple manufacturability.
Using a bike-chain drive, it moves a piston rod to translate rotational motion to lateral motion
3:1 Gear Ratio gives us the needed mechanical advantage
Drive Train ConstructionDrive Train Construction
99% of all materials used are either aluminum, stainless steel, or plastic for corrosion resistance.
By modifying store bought bicycle parts we kept fabrication simple.
The lightened aluminum boom is hollowed out to reduce weight but not sacrifice strength
Fin DesignFin Design Instead of adapting
theoretical biometric fins (fish, dolphin, etc.), use a symmetric airfoil to calculate thrust
The boom sweeps 90° and the fin is free to rotate 90° relative to the boom, which provides great lift and little drag.
Combining high sweeps per minute with a large surface area wing of high aspect ratio gives the best theoretical performance.
Fin ConstructionFin Construction
A CAD model from SolidWorks was machined using an automated milling machine (CNC technology)– Ensuring symmetry
Layered with Fiberglass
Fitted with sweep-limiting knuckle.
SteeringSteering
Surfboard fins Morse Cables Simple actuation Strong materials Epoxied Shaft Wide range of motion Large Surface area Avoid Walls!
ControlsControls
Mounting all controls, mechanically, to a single handle– Removes electrical problems– Frees other hand as solid
support base. Hydraulic actuators have
been replaced with Morse push-pull flexible cables for corrosion resistance and ease of operation and maintenance
Safety FeaturesSafety Features
Quick release hatch - just pull!
No need for pilot restraint Spare air in case the
pilot’s main air supply fails Clearly-marked safety
features for support divers Pop-up buoy attached to
dead-man’s switch
Future GoalsFuture Goals
Perfect current systems
Minimize drag and maximize power output for faster speed
Computer controlled variable pitch adjustment
Lessons LearnedLessons Learned
Press-fits are not truly secure!
Gather Sponsors before academic year
Early training K.I.S.S.
SponsorsSponsors
US Grants