Redesign of a Submersible Autonomous Data Collection and

Redesign of a Submersible Autonomous Data Collection and Transmission System (S. A. D. C. A. T. S. ) Group Members: Matthew Rhoads BS ME (Lead) - Ballast, Hull John Robinson BS ME - Propulsion, Component Mounting Daniel Rubin BS ME - Stability, Propulsion, Comp. Mounting Matthew Buchwald BS/MS EE - Software Matthew Stith BS EE - Electrical Hardware Sponsor: Dr. Robert Kremens, Senior Research Scientist Chester F. Carlson Center for Imaging Science Faculty mentors: Dr. Wayne Walter, Mechanical Engineering Dept. , Kate Gleason College of Engineering Professor George Slack, Electrical Engineering Dept, Kate Gleason College of Engineering

Overview of Presentation Project Description Mechanical Design – Hull – Ballast System – Propulsion System – Component Mounting Rack – Mechanical Status and Outlook Electrical Design – Electrical Hardware diagram – Software diagram – Electrical Status and Outlook Overall Project Testing Schedule

Project Description An autonomous data-collecting submarine – A redesign of last year’s project – Deployable on Lake Ontario – Dives and resurfaces by pressurizing a ballast tank – Collects pressure, temperature, and color data as a function of depth – Propulsion systems allows sub to travel along surface

Hull Improvements in size and weight of the overall vessel compared to first generation Space-efficient packaging of components Target external pressure of 4 atmospheres Ease of access to internal components

Ballast System Increase in control during diving Integration into main body of vessel Capability to influence vessel attitude Removal of need for external medium Additional areas of weight reduction

Propulsion System Two, two-blade propellers will be used to navigate through the water. Instead of a rudder, the propellers will vary in speed to change direction. Propulsion system is assembled separately before placement in its enclosure Lip Seal provides dynamic seal for propeller shaft. Thrust bearing provides axial stability. A more powerful motor must be considered to achieve locomotion

Component Mounting System • Allows electrical components to be mounted and accessible from the front end cap • Provides easy removal of components • Locates batteries in lower region of hull, aiding vessel stability

Mechanical Status · Propulsion - Minimal fabrication left - Enclosure seal test planned for Tuesday - integrate to hull and test vessel locomotion Thursday · Component Mounting Rack - Fully assembled, integrated with electrical parts · Hull - Minimal fabrication left · Ballast - Fully Assembled - Modification forthcoming to hold required ballast pressure

Electrical Hardware Diagram

Software Flowchart

Electrical Status · Software - Initialization, diving, rising, and data acquisition functional, Simulated Dive Test Complete on vessel hardware - GPS reading and interpretation code complete - Propulsion and Navigation code complete, but untested; debug contingent on completion of propulsion system - Data transmission subroutine is functional - Data storage and retrieval not functional, currently in debug phase · Hardware - Battery system complete - Power electronics board is complete, ready for dive test and propulsion system test - Microcontroller is interfaced with power electronics board - Pressure and Temperature sensors functional, color sensor still not interfaced - GPS not interfaced with Microcontroller - Radio transmission not functional, system is ready for modem to be supplied by sponsor

Overall Schedule · Pool tests planned for next week to do the following: - Demonstrate hull sealing - Test proper ballast operation - Execute successful dive code sequence - Test locomotion on surface - Demonstrate data collection and retrieval - Establish color sensor operation · Dry tests for next week: - Show proper GPS operation and connection to microcontroller