Human Powered Submarine

• Introduction• The submarine’s general characteristics• The hull• Propulsion system• Fins• Propeller• Security system• Direction system• Conclusion• Questions??

Introduction

• The team• Previous speed records

• Our goal

Submarines Category Year Speed(knots)

Omer4 One person, propeller 2001 7.192

Omer5 Two person, propeller 2007 8.035

Omer6 One person, non-propeller 2007 4.916

Omer7 Two persons, non-propeller 2009 5.133

General Characteristics

• One person, Propeller• Modeling done with CATIA V5R19• The hull– Smallest in volume (105 in x 20 in x 24 in)

General Characteristics

• The propulsion system– Similar to Omer4– Pedaling = rotor movement– Variable pitch added

• The direction system– Four fins– Fully mechanical system

General Characteristics

• The security system– Same as Omer7– Pneumatic system with actuators

– Dead man switch

The hull

• Constraints• Methodology• Ergonomic test• Hydrodynamic analysis• Fabrication• Results

The hull (Constraints)

• Minimum required space for pedaling• Size of the pilot– Dimensions of the constraints

Hip length 19 in

Foot width 16 in

Shoulder width 19 in

Total length 70 in

The hull (Modeling)

• CATIA V5R19• NACA series 6 airfoils• Technique– Horizontal airfoils(shoulder and foot width)– Vertical airfoils(hip length and minimum length)– ellipses

The hull (Ergonomic test)

• Enough space?• Sectional analysis

-Knee fitting -Shoulder and tank fitting -Pedals fitting

The hull(Hydrodynamic analysis)

• Computational Fluid Dynamics– Floworks by Solid works 2007– Simulates a fluid at a speed of 4m/s– Trajectory of fluid + power of drag

• Optimal results

The hull(Fabrication)

• Resin infusion process• Saves time and $$

The hull(Fabrication)

• Carbon fiber+ epoxy resin• Difference: carbon/innegra fiber

• Nose window = polycarbonate(Lexan)– Good impact resistance+ translucent

Results• Final hull

• NACA66020 for vertical plane,NACA63013 for horizontal plane

Omer 8 Omer 7 Omer 3

Volume(m3) 0.392 ----------- 0.4

Surface area(m2) 3.997 7.712 3.656

Length(in) 105 193 107

Estimated drag(N at 4m/s) 53.7 161 76

Biggest diameter(in) 24 29.3 24.8

Propulsion system

• Modeling• Description• Technical specifications• Variable pitch• Functionality of the variable pitch• Fabrication• Electrical system

Propulsion system(Modeling)

• CATIAV5R19– Bearings– Bevel gears– Seals– Motors– Etc.

Propulsion system(Description)

1- Plate glued to the hull2- Structure support3-Top cover plate4-Driveshaft tube5-Bottom cover plate6-Gear box

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Propulsion system(Description)1-Pedal2-Crank set level3-Lateral cover plate4-Bearing housing5-Lateral structure6-Button bracket7-Big bevel gear8-gear box case9-Button bracket bearing10-Small bevel gear11-Drive shaft12-Drive shaft bearing13-Drive shaft tube support

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101211

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Propulsion system(Technical specifications)

RPM Propeller 100 RPM

RPM drive shaft 200RPM

Weight 50 kg

Height 24 in

Length 43 in

Material Used Aluminum 6061 T6 aeronautic grad

Max Torque 150 Nm

Number of parts 20 parts

Length of pedal lever 170 mm

Bearing SKF ball bearing

Pedal Look patent pedal

Propulsion system(variable pitch)• In dependent electrical system• Holds two blades at a certain angle1-Head cone2-Rotor cone3-Turning plate4-Hub5-Cover tube6-Driveshaft

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Propulsion system(variable pitch)1-Electrical motor2-Motor support3-Head cone seal4-motor bushing5-Rotor cone seal6-Propeller blade bearing7-Battery pack8-Bevel gears9-Bearing10-Water proof connector11-Electrical board

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Battery pack voltage 24volts

Motor Maxon, 100 watts, 24 volts

Bevel gears Cobalt

Weight 100kg

Number of parts 25 parts

Bearing 17mm(NSK6002) ,15mm(NSK6000)

Seal SKF CR SEALS 6mm and 17mm

Connector Seacon Hummer 1.15 amps

Propulsion system(variable pitch)

• Angle of the blades for best acceleration

• Electrical system (pcb + code)– Magnetic switch + direct programing– Rpm = angle– Reajusting

Propulsion (fabrication)

• Mostly fabricated within our facilities• Standard bicycle parts• Aluminium

Fins and propeller

• Polyurethane casting• Aluminum moulds

• Fabricated on CNC at 12000 RPM (4hrs)• Aluminum• Clouds of points and aeronautics airfoils

Direction

• Fully mechanical• Joystick on rails + cables• Direction on joystick= Direction of sub

Safety system

• Pneumatic• Dead man switch• Same air source as pilot