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Signature Redacted Author An Experimental Study of the One Atmosphere Diving Suit (ADS) and Data Analysis of Military Diving MASSACHUSCITS INSTITUTE byI OF TECHNOLOGY James J. Colgary, Jr. JUN 0 22016 B.S., United States Naval Academy (2005) M.S., Naval Postgraduate School (2006) - LIBRARIES Submitted to the Department of Mechanical Engineering ARCHIVES in partial fulfillment of the requirements for the degrees of Naval Engineer's Degree and Master of Science in Mechanical Engineering at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY June 2016 @ Massachusetts Institute of Technology 2016. All rights reserved. Signature redacted Author .... ........................ --- ------- - Department of Mechanical Engineering May,6, 2016 Certified by ............... Sig atu reedacted Alexandra H. Techet Associate Professor of Mechanical Engineering Jq1ie<s Supervisor Certified by ........... Signature redacted ....... I-, Joel P. Harbour Professor of the Practice of Naval Construction and Engineering Thesis Supervisor Accepted by ................... Signature redacted Rohan A4eyaratne Chairman, Committee on Graduate Theses 2 An Experimental Study of the One Atmosphere Diving Suit (ADS) and Data Analysis of Military Diving by James J. Colgary, Jr. Submitted to the Department of Mechanical Engineering on May 6, 2016, in partial fulfillment of the requirements for the degrees of Naval Engineer's Degree and Master of Science in Mechanical Engineering Abstract The Atmospheric Diving Suit (ADS) is a one-man submarine with moveable, human- like appendages with internal pressure maintained at one atmosphere. This precludes the possibility of common diving related illnesses while giving the operator an in- creased depth of operation compared to traditional diving systems. The ADS provides additional capability for industries and militaries around the world, but is not without its own unique challenges and limitations. Current ADS maneuverability, specifically that associated with joint rotation, lacks natural movement and range of motion, ren- dering most normal underwater tasks more challenging and taxing on the operator. Concerns about the lack of maneuverability and usability of the current ADS, primar- ily raised by the US Navy and ADS operators, prompted the Office of Naval Research (ONR) to fund an investigation into the next-generation ADS. In partnership under a Small Business Technology Transfer (STTR) contract, Mid6 Technology and MIT teamed up to investigate new joint design. To better understand the existing ADS and characterize the kinematics of elbow and shoulder rotation, an experimental test was completed with the commercial OceanWorks 1200 ft HARDSUITTM ADS at Phoenix International. Using a suite of Inertial Measurement Units (IMUs), equivalent ADS elbow and shoulder flexion/extension angles were extracted. A custom MATLAB® script was written to process data based on previous MIT IMU research associated with spacesuit design and other biomedical IMU research. The ADS pilot's movement inside the suit characterized the current suit's maneuverability, baselining capability. This study will inform future joint design by improving the understanding of the current ADS. In conjunction with the kinematic study, a numerical analysis of all military diving data was completed to better understand "how" the military dives. All military dive data is available to the public via www.militarydivingdata.com or divingresearch.scripts.mit.edu/militarydivingdata. 3 Thesis Supervisor: Alexandra H. Techet Title: Associate Professor of Mechanical Engineering Thesis Supervisor: Joel P. Harbour Title: Professor of the Practice of Naval Construction and Engineering 4 Acknowledgments The following organizations, businesses, and individuals were significant to the success of this study: a Phoenix International - Torn Bissett and the team of ADS pilots in Bayou Vista, LA. " OceanWorks International - providing feedback and additional information on the HARDSUIT M ADS. " Undersea Rescue Command (URC) Engineering Officer - providing ADS 2000 information and hands-on exposure. " APDM customer support and engineers - supporting requests for information. " Naval Safety Center - for honoring the large Freedom of Information Act diving and diving related mishap data request. " MIT Man-Vehicle Laboratory (MVL) - for equipment support and consult. Specifically, to Pierre Bertrand and Eddie Obropta for technical and experi- mental support. " Primary editor - Katie Colgary, Harvard MBA 2016, for providing critical, con- stant, thoughtful, and loving support. 5 THIS PAGE INTENTIONALLY LEFT BLANK 6 Contents 1 Introduction 15 1.1 Motivation and Background .. 15 1.2 Problem Statement ...... 16 1.3 Research Objectives ....... 16 1.4 Thesis Outline ..... ..... 17 2 ADS Industry and Literature Review 19 2.1 Present Day Atmospheric Diving ........ 19 2.1.1 OceanWorks HARDSUITTM ADS .... 20 2.1.2 Nuytco's EXOSUIT ADS .... ... 22 2.1.3 ADS Operators ............. 23 2.1.4 ADS Problems and Concerns ..... 24 2.2 Kinem atics ................... 29 2.2.1 Types of Limb Kinematic Evaluation . 29 2.2.2 Inertial Measurement Units in Kinematic Evaluation 30 2.2.3 Inertial Measurement Units ..... 30 2.2.4 Fusion Algorithms ........... 32 3 Study of ADS Arm Kinematics 33 3.1 Overview ................ 33 3.2 Experimental Setup .......... 33 3.2.1 Platform ............... 33 3.2.2 General Movements . .... 34 7 3.2.3 Location /Facility ........... 35 3.2.4 Test Subjects .... .... ..... 35 3.3 Sensors. .................... 36 3.3.1 Sensor Calibration .. ... .... 37 3.3.2 Sensor placement and Orientation .. 37 3.4 Test Protocol ... .......... .... 39 3.5 Kinematic Analysis .......... .... 44 3.5.1 Detailed Kinematic Analysis Methods. 45 3.6 Graphical and Numerical Analysis ..... 48 3.6.1 Elbow Rotation ..... ....... 48 3.6.2 Arm Raise ........... .... 56 3.6.3 Pressure Sensor Correlation . .... 57 4 Military Diving Data 61 4.1 O verview .................... ............ 61 4.2 Background .................. ............ 61 4.3 Quantitative Methodology .......... 62 4.3.1 DJRS Dive logs ..... ....... 62 4.3.2 Diving related Mishap Reports .. 64 4.3.3 ADS Diving Logs .......... 64 4.4 All Military Diving Breakdown ....... 65 4.4.1 Unacceptable Dive Logs ...... 74 4.5 Diving Related Mishaps ........... 74 5 Conclusions 81 5.1 Future Work ............................... 83 A ADS Test Plan 85 8 List of Figures 2-1 OceanWorks current HARDSUIT Quantum. (photo credit: Ocean- Works International) ....... ........................... 20 2-2 ADS maximum elbow angle. (Photo adapted from OceanWorks Inter- national ADS HARDSUIT right arm technical drawing.) .... ... 21 2-3 Nuytco EXOSUIT. (photo credit: Nuytco Research) . ...... ... 23 2-4 Comparison of displaced suit volume and neutral buoyancy. Vertical columns show average or estimated displacement ranges. The angled line represents a minimum weight value for a given displaced volume under which, additional weight would be needed to achieve desired neutral buoyancy. .. ...... ...... ...... ..... .... 28 2-5 APDM recommended placement of IMUs (image source: APDM) .. 31 3-1 1200 ft ADS owned and operated by Phoenix International .. .... 34 3-2 Test pool facility. The ADS is being craned into position with onboard ADS camera view of pool in the upper left corner. Blue framed viewing window with externally mounted camera seen centered on pool cylinder. 35 3-3 APDM IMU Opal actual location on subject. Figure adapted from Figure 2-5. .... ...... ...... ..... ...... ...... 38 3-4 APDM IMU Opal local coordinate axes. ............. ... 38 3-5 APDM IMU Opal actual location on ADS hull. ............ 39 3-6 Test subject sensor placement. The blue pad is the pressure pad and the IMUs are the black-strapped objects above and below the elbow. White athletic tape helps secure sensors to the body. ......... 40 9 3-7 Test subject entering ADS: stepping first into the legs of the suit, then allowing the torso portion of the suit to be closed overhead and locked. 41 3-8 ADS arm rotation to achieve maximum elbow angle. (photo adapted from OceanWorks International ADS HARDSUIT right arm technical draw ing) . ........... ............ .......... 42 3-9 Elbow rotation as captured from ADS pool testing. The central picture illustrates maximum elbow rotation ................... 42 3-10 Arm raise as captured from ADS pool testing. The central picture illustrates maximum arm raise .......... ........... 43 3-11 Test subject performing the Functional Task: tightening a bolt with fam iliar ratchet tool. .......... ............ ..... 43 3-12 IMU numbered organization. IMUs 2 and 3 are used to extract elbow angle, where IMUs 1 and 3 are used for the shoulder angle. .. .... 46 3-13 Typical elbow rotation output of a movement group with five repeti- tions. The difference between the peaks and valleys represent maxi- mumn eiow imovenen. ......... ............ ..... 4 3-14 Pilot arm wide range of flexion/extension angle to achieve the same maximum ADS arm rotation. The solid lines represent pre-rotation arm orientation where the dotted lines show post-rotation orientation. 51 3-15 Variability of movement in Test Subject 2. ............... 52 3-16 Pilot and ADS arm flexion/ extension angles. ... ........... 53 3-17 Elbow rotation example from each subject including yaw, roll, and pitch, 55 3-18 Typical arm raise angle output of a movement group with five repe- titions. The difference between the peaks and valleys represent maxi- mum shoulder movement. ............ ........... 56 3-19 Test Subject 3 elbow rotation data
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