Interim Review #2Interim Review #2

RAV TeamRAV Team

Matthew AllgeierMatthew AllgeierKevin DiFalcoKevin DiFalcoDaniel HuntDaniel Hunt

Derrick MaestasDerrick MaestasSteve NaumanSteve Nauman

Jaclyn PoonJaclyn PoonAaron ShileikisAaron Shileikis

IntroductionIntroduction

RFA’sRFA’s SubsystemsSubsystems

Design SummaryDesign Summary Current IssuesCurrent Issues

Schedule StatusSchedule Status Critical PathCritical Path

Budget StatusBudget Status

Requests for Action (RFA’s)Requests for Action (RFA’s)

Check Finish Specification on Control Check Finish Specification on Control Surface Dynamic Sealing SurfaceSurface Dynamic Sealing Surface

Design Summary – Design Summary – MechanicalMechanical

Hydrodynamic RFAHydrodynamic RFA

Check Finish Spec on Seal Surface for Check Finish Spec on Seal Surface for Control Surface SealsControl Surface Seals Optimal rod surface finish < 8Optimal rod surface finish < 8in (0.2 in (0.2

microns)microns) Type 303 Precision Stainless Steel shafts Type 303 Precision Stainless Steel shafts

have a finish of 10 micronshave a finish of 10 microns Sales Engineers at Eclipse engineering Sales Engineers at Eclipse engineering

confirmed that this finish would be confirmed that this finish would be adequate for low speed intermittent useadequate for low speed intermittent use

Hydrodynamics – SummaryHydrodynamics – Summary

Required Airfoil TorqueRequired Airfoil Torque Change in Req. deflection speed (servo Change in Req. deflection speed (servo

spec)spec) New Torque: 125 oz-in w/out misc. lossesNew Torque: 125 oz-in w/out misc. losses

New Airtronics 94358Z ServoNew Airtronics 94358Z Servo 200 oz-in (High-Torque)200 oz-in (High-Torque) 1.54 x 0.79 x 1.47 (small – space 1.54 x 0.79 x 1.47 (small – space

constraint)constraint)

Hydrodynamics – IssuesHydrodynamics – Issues

Custom Servo CouplerCustom Servo Coupler Unable to locate small size couplerUnable to locate small size coupler Misfit Shaft to Coupler via HeatMisfit Shaft to Coupler via Heat

ServoServo Problem: Can not rotate 180º for LSM Problem: Can not rotate 180º for LSM

TestTest Solution: Remove Airfoil during Solution: Remove Airfoil during

Subsystems TestSubsystems Test

Buoyancy – Design Buoyancy – Design SummarySummary

Machined PartsMachined Parts 90% Complete90% Complete

Still to MachineStill to Machine CylinderCylinder

Parts to AcquireParts to Acquire BatteriesBatteries

4 DuraTrax Receiver NiCd 4 DuraTrax Receiver NiCd Flat Pack 6 Volt Flat Pack 6 Volt

2200mAh (600mAh required 2200mAh (600mAh required per motor) per motor)

Length x Width x Height: Length x Width x Height: 3-1/4“ x 1-3/4“ x 5/8"3-1/4“ x 1-3/4“ x 5/8"

Weight: 4.8 ozWeight: 4.8 oz

[BUOY 1] Buoyancy Piston Cylinder Assembly

Buoyancy – IssuesBuoyancy – Issues

Inner Cylinder SealingInner Cylinder Sealing Machine inner bore for Machine inner bore for

smooth sealable surfacesmooth sealable surface Lubricate o-rings to reduce Lubricate o-rings to reduce

frictionfriction Test design thoroughlyTest design thoroughly

[BUOY 2] Buoyancy Piston Cylinder and Piston Head

Data Acquisition – Data Acquisition – Summary/IssuesSummary/Issues

Design SummaryDesign Summary Extech mini anemometer - VelocityExtech mini anemometer - Velocity

Electronics tested and partially manufactured Electronics tested and partially manufactured Omega PX180 pressure transducer - DepthOmega PX180 pressure transducer - Depth

Electronics tested and partially manufacturedElectronics tested and partially manufactured Battery voltage monitor (2)Battery voltage monitor (2) 4 external channel HOBO data logger4 external channel HOBO data logger

Current IssuesCurrent Issues Integration timeIntegration time

Propulsion – Design Summary and Propulsion – Design Summary and IssuesIssues

Design SummaryDesign Summary1.1. Change in propeller Change in propeller

sizesize2.2. Change in motor Change in motor

mountmount3.3. Change in coupling Change in coupling

for Motor/shaft/propfor Motor/shaft/propIssuesIssues1.1. Need to check on all Need to check on all

orders made orders made recentlyrecently

[PROP 1] Old Motor Mount Configuration

[PROP 2] Tail cap on CNC milling machine

Propulsion – StatusPropulsion – StatusPART STARTED COMPLETED

Tail Piece Complete

Motor Mount 1 Complete

Motor Mount 2 Complete

Tail Cone Started 15-Mar

Shroud Not Started 26-Mar

Fins Not Started 26-Mar

PART STATUS ARRIVAL

Motor/Controller IN

Bearing IN

Rotary Seal IN

Shaft IN

Batteries Ordered 1 Week1 Week

Propeller Ordered 1 Week

Shroud – PVC IN

[PROP 3] Finished Tail on CNC Lathe

[PROP 4] Finished Tail and CNC Lathe Setup

Communications – SummaryCommunications – Summary

ComponentsComponents Tx - Futaba 8UAPSTx - Futaba 8UAPS Rx - Futaba FP-R148DO, PCM 1024Rx - Futaba FP-R148DO, PCM 1024

8-Channel, 72.330 MHz, 3.12 ft whip antenna, 0.75 W8-Channel, 72.330 MHz, 3.12 ft whip antenna, 0.75 W Using less channels than expected due to Switch CapabilitiesUsing less channels than expected due to Switch Capabilities

Coaxial Cable Coaxial Cable (new)(new) Trainer Cable Trainer Cable (new)(new) 1/8” diameter Fiberglass Antenna Mast1/8” diameter Fiberglass Antenna Mast

Testing ConfigurationsTesting Configurations Nominal ConfigurationNominal Configuration Propulsion Subsystems TestPropulsion Subsystems Test Buoyancy Subsystems Test (use Trainer Cable)Buoyancy Subsystems Test (use Trainer Cable)

Range Testing ResultsRange Testing Results Signal Loss at > 100 mSignal Loss at > 100 m

Communications – Testing Communications – Testing ConfigsConfigs

[COMM 1] Nominal Config

[COMM 2] Propulsion Test Config

[COMM 3] Buoyancy Test Config

Communications – IssuesCommunications – Issues

Problem #1: Receiver/Antenna LocationProblem #1: Receiver/Antenna Location Metallic Housing = EM wave interferenceMetallic Housing = EM wave interference Underwater = Loss ~300 dB/mUnderwater = Loss ~300 dB/m

Solutions:Solutions: Move Antenna outside of RAV via shielded Coaxial CableMove Antenna outside of RAV via shielded Coaxial Cable Match Coaxial Cable Impedance to both Receiver & Match Coaxial Cable Impedance to both Receiver &

AntennaAntenna

Problem #2: Comm during Buoy Subsystems TestProblem #2: Comm during Buoy Subsystems Test Depth > Antenna HeightDepth > Antenna Height

Solution:Solution: Cable (3m?) from Tx to Rx for Buoyancy Subsystems Cable (3m?) from Tx to Rx for Buoyancy Subsystems

TestTest Plan: Use commercial componentsPlan: Use commercial components

LSM – Issues and ProgressLSM – Issues and Progress

Issues - Model AssumptionsIssues - Model Assumptions Control surfacesControl surfaces

Assumes the CS to turn 90Assumes the CS to turn 90° to minimize drag° to minimize drag AntennaAntenna

Drag not included in modelDrag not included in model InertiaInertia

Ignored in modelIgnored in model ProgressProgress

Current design testing completeCurrent design testing complete New design testing in progressNew design testing in progress

LSM – Testing ResultsLSM – Testing Results Testing encountersTesting encounters

Results affected by Results affected by ambient water ambient water conditionsconditions

Mechanically sensitiveMechanically sensitive LatexLatex SolenoidSolenoid Wire connectionWire connection

Insufficient voltage to Insufficient voltage to solenoidssolenoids

Test resultsTest results Consistent with Consistent with

assumptionsassumptions Optimized parametersOptimized parameters

Frequency = 15 HzFrequency = 15 Hz Exit diameter = 0.40”Exit diameter = 0.40”

Exit Diameter & Frequency vs. Time

0

20

40

60

80

100

120

140

160

180

200

10 15 20 25 30

Frequency (Hz)T

ime (

s)

0.35" 0.40" 0.45" 0.50"

[LSM1] – Test results from 4” model sub at Clare Smalls Pool. Performed with 2 5EP soft-shift solenoids.

LSM – New DesignLSM – New Design New Design will not be New Design will not be

incorporated into the RAVincorporated into the RAV Motor/Flywheel/Piston Motor/Flywheel/Piston

systemsystem Eliminates mechanical Eliminates mechanical

discrepancies in solenoidsdiscrepancies in solenoids Provides absolute displacementProvides absolute displacement Adjustable frequencyAdjustable frequency

Testing in progressTesting in progress Possible insufficient motor Possible insufficient motor

torquetorque Results & PurposeResults & Purpose

Improves current designImproves current design Provides a foundation for future Provides a foundation for future

projectsprojects[LSM2] – Partial CAD of 2nd Design

Full Systems Testing – Design Full Systems Testing – Design Changes/IssuesChanges/Issues

Leak Test ChangeLeak Test Change COCO22 Test Discarded Test Discarded

Sublimation Rate too SlowSublimation Rate too Slow Mechanical Valve AddedMechanical Valve Added

Advantage: External Pressure GaugeAdvantage: External Pressure Gauge

Critical Path #1Critical Path #1 PrePre-Leak/Hyperbaric Test -Leak/Hyperbaric Test (*Bottleneck!!)(*Bottleneck!!)

Physical IntegrationPhysical Integration Mid-SectionMid-Section

Weld & Seal BulkheadsWeld & Seal Bulkheads Drill Mid-Section HolesDrill Mid-Section Holes Weld & Seal LSMWeld & Seal LSM Integrate & Seal Buoyancy (Piston-Cylinder & Hoses)Integrate & Seal Buoyancy (Piston-Cylinder & Hoses) Antenna & Pressure Transducer Static SealsAntenna & Pressure Transducer Static Seals Leak Test ValveLeak Test Valve

TailTail Weld & Seal BulkheadWeld & Seal Bulkhead Pressure Fit Control Surfaces Dynamic SealPressure Fit Control Surfaces Dynamic Seal

Mount Servo’s, Coupler & ShaftMount Servo’s, Coupler & Shaft Pressure Fit Propulsion Dynamic Seal Pressure Fit Propulsion Dynamic Seal

Mount ShaftMount Shaft Electrical IntegrationElectrical Integration

Data AcquisitionData Acquisition Pressure Transducer to HOBOPressure Transducer to HOBO

CommComm Tx to RxTx to Rx Rx to all subsystemsRx to all subsystems

Leak Test Leak Test (Friday, 19 March)(Friday, 19 March)

Critical Path #2Critical Path #2 Hyperbaric Test Hyperbaric Test (Friday, 26 March)(Friday, 26 March) PostPost-Hyperbaric Test-Hyperbaric Test

Physical IntegrationPhysical Integration Mid-SectionMid-Section

Antenna MastAntenna Mast Anemometer MountAnemometer Mount Payload TrayPayload Tray Electronics BoxElectronics Box Batteries & WiringBatteries & Wiring

TailTail Motor & Mounting HardwareMotor & Mounting Hardware PropellerPropeller Shroud & Mounting HardwareShroud & Mounting Hardware

Electrical IntegrationElectrical Integration Data AcqData Acq

Anemometer to HOBOAnemometer to HOBO Battery Voltage MonitorBattery Voltage Monitor

CommunicationsCommunications Rx to all subsystemsRx to all subsystems Tx ProgrammingTx Programming

Functional Subsystems TestsFunctional Subsystems Tests Pool TestingPool Testing

Miscellaneous Miscellaneous Comments/IssuesComments/Issues

Slightly Behind ScheduleSlightly Behind Schedule Death Week + Spring BreakDeath Week + Spring Break Avg. 15+ hrs/wk/student vs. scheduled 12 Avg. 15+ hrs/wk/student vs. scheduled 12

hrs/wkhrs/wk Outstanding ReceiptsOutstanding Receipts ACard Update to $6,500ACard Update to $6,500 Battery Cycling & ChargingBattery Cycling & Charging Total Machine Shop Hours: ~625 hrsTotal Machine Shop Hours: ~625 hrs

Manufacturing Hours Manufacturing Hours BreakdownBreakdown

Section Time (Hours) Actual @ 5 Weeks Actual @ 10 Weeks Actual @ 15 Weeks

Nose 30.0 0 10  

Tail 86.0 110 240  

Control Surfaces 41.0 40 50  

Buoyancy 45.0 65 125  

LSM 96.0 72 100  

Electronics 30.0 48 60  

Bulkheads 5.0 0 50  

Integration 67.0 0 Unknown  

TOTAL 400.0 335 635  

         

Weeks 10 5 10 15

Students 7 7 7 7

Hours/Student/Week 12 10 10 ?

Total Hours Available 840.0  350  700  

         

Margin (S.F. = ~2) -440.0      

Updated ScheduleUpdated Schedule

Before Spring BreakBefore Spring Break

BuoyBrackets

BuoyBrackets

Buoy MotorStatic Testing

Buoy Cylind& Test Stand

Buoy - Caps& Cylinder

Buoy - EndCaps

Buoy -Cylinder

Buoy -Cylinder

Buoy -Payload Tray

ProcurementBuoy Tray

TailBore Out

Tail CAMDrawing

TailBore Inner

TailInner Details

TailCNC Outer

TailMisc. Holes

Nose

Tail Cap

Mid-SectionWelding

SolidworksUpdates

ControlSurfaces

ControlSurfaces

Bulkheads

Bulkheads

Bulkheads

Bulkheads

Bulkheads

BulkheadIntegration

Procurement

BuoyBrackets

Buoy &Ctrl Surfaces

Buoy &Ctrl Surfaces

BuoyBottom Tray

BuoyBottom Tray

Antenna

Comm Test& Integration

Coupler &Ant Design

Servo, Valve& Antenna Int

ProcurementOrganization

TailBore Inner

TailBore Inner

TailBore Inner

TailInner Details

TailCNC Outer

TailCNC Outer

Prop Bracket& Misc Parts

Prop - TailIntegration

Tail Cap

ProcurementWebpage

LSM Testing

LSM Manu

LSM Manu

LSM Manu& Testing

LSM Manu*New Testing

New LSMDesign

New LSMDesign

New LSMDesign

Couplers

LSM TestingProcurement

LSM Testing

LSM Manu

AnemometerCircuit

AnemometerCircuit

LSM Circuit

XducerCircuit

XducerCircuit

Data AcqIntegration

Wiring &HOBO Test

LSM TestingProcurement

Dan Steve Matt Aaron Kevin Jaclyn Derrick

19-23 Jan

26-30 Jan

2-6 Feb

9- 13 Feb

16-20 Feb

23-27 Feb

1-5 Mar

8-12 Mar

15-19 Mar

12-16 Jan

ControlSurfaces

After Spring BreakAfter Spring Break

BuoyFxnal Test

Buoy SubsysTesting

IntegratedBuoy Test

Test ResultsAnalysis

FinalPresentation

Final Report

Spring Break

Shroud &Batteries

Misc.

Misc.

Test ResultsAnalysis

FinalPresentation

Final Report

Spring Break

Misc.

ServoFxnal Test

Test ResultsAnalysis

FinalPresentation

Final Report

Spring Break

Hyper Test &Comm Int

IntegratedComm Test

IntegratedComm Test

Test ResultsAnalysis

FinalPresentation

Final Report

?

PropulsionIntegration

PropulsionFxnal Test

IntegratedProp Test

Test ResultsAnalysis

FinalPresentation

Final Report

Spring Break

LSMIntegration

LSMFxnal Test

IntegratedLSM Test

Test ResultsAnalysis

FinalPresentation

Final Report

Spring Break

Data AcqIntegration

ElectricalIntegration

IntegratedData

Test ResultsAnalysis

FinalPresentation

Final Report

?

Dan Steve Matt Aaron Kevin Jaclyn Derrick

29-2 Apr

5-9 Apr

12-16 Apr

19-23 Apr

26-30 Apr

3-7 May

22-26 Mar

IntegratedServo Test

Budget Summary - Interim Review #1

Item Planned Planned @ 10 weeks Difference Spent

Raw Materials $815.00 $500.00 $190.00 $410.60

Control Surfaces/Comm $640.00 $735.00 -$95.00 $155.00

Buoyancy $463.90 $377.83 $86.07 $329.88

Communication/CS $110.00 $260.00 -$150.00 $627.25

Data Acquisition $295.00 $290.00 $5.00 $290.00

Propulsion $1,475.00 $1,497.62 -$22.62 $1,200.44

LSM $930.00 $770.00 $160.00 $600.14

Miscellaneous $560.00 $535.00 $25.00 $173.28

Testing Facilities $250.00 $250.00 $0.00 $0.00

Parts Total $5,538.90 $5,315.45 $223.45 $3785.13

Shipping (5% Parts) $276.95 $276.95 Na $177.36

Grand Total $5,815.85 $5,592.40 $223.46 $3,962.49

         

Available $6,524.00      

ASEN $4,000.00      

EEF $1,000.00      

UROP $1,524.00      

Goal 90% $5,871.60      

Margin (Grand Total - 90% Goal) $55.76   TOTAL EXTRA $531.60