Phantom 6 - ISR - International Submarine Races

Report
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Phantom 6
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Virginia Tech
Human Powered Submarine
Rising to the Challenge Below the Surface
Design Goals
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Broad spectrum redesign of two person
submarine (Phantom II)
Electronic monitoring
Hull
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Typhoon
Orion
Hull
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Fiberglass-foam
sandwich reinforced
with carbon fiber
Controls
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Stabilizer-Control Surface Combination
All controls routed to single joystick
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No need for 2 handed push-pull system for rudder
and elevator
Less pilot hand travel per unit deflection
Control Authority- deflection to +- stall angles
Wide non body of revolution hull, inherently
roll stable
Propulsion
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• Two pilot propeller driven system
• Tandem system connected to a summing
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differential
Dive Safety
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Capable of being fully operated by either
pilot
Large hatches to simplify egressing
Feet untethered to pedals
Integrated tank-harness
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HUD and Data Acquisition
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• Sensor Interface
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Accelerometer - Roll, Pitch, and Yaw
Pressure Sensors - Speed and Depth
RPM Sensor - Rotational velocity of propellers
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7-Segment Display
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Displays depth and speed at all times
LCD Display
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All sensor data
Data logger for post-race diagnostics
Coded in C++ and runs on a microcontroller
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Over 800 lines of code
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Testing
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Buoyancy & Trim
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Static
Safety and Control
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Expense
Amount
Use
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Travel-Spring
Testing
Gas, lodging, and other transportation costs to go to Florida. The
purpose of this trip is to test the submarine prior to competition.
Competition
$3,000
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Fiberglass/Carbon
$500
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Fiber
Supplies
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Aluminum
$1,500
Fees, Gas, lodging, and other transportation costs to go to
competition in Carderock, Maryland.
Fasteners/Supplies
$750
Various screws, couplings, bearings, nuts, washers, etc.
Propulsion
$2,500
Gears, propeller, drive shafts, pedals
Cables
$250
Push-pull cables
Computer/Electrical
Equipment
$1000
Microcontroller, Battery, Power Supply, Accelerometer, Displays,
Data Logger, RPM sensors, and Otterboxes
Scuba Gear
$1000
Various purchases and upgrades to SCUBA equipment
Safety Equipment
$500
Ty-vec suits, respirator cartridges
Total
$17,500
Phantom 6 budget
Badding, resin, hardener
Various Aluminum sheet, plate, rods, and tubes, etc.
Conclusion
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System Integration
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New concept
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Future - Phantom 7
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Autonomous Controls
Advanced HUD

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