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An Experimental Study of the Human Interface with One Atmosphere Diving Suit Appendages by Christopher Michael Wilkins B.S., United States Naval Academy (2009) Submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degrees of AASSACHUSETTS INSTITUTE Naval Engineer's Degree OF TECHNOLOGY and JUN 0 2 2016 Master of Science in Ocean Engineering at the LIBRARIES MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARCH-IVES June 2016 @ Massachusetts Institute of Technology 2016. All rights reserved. Signature redacted A uthor ................... ....... ..... ..... ... ...... ..... ... Department of Mechanical Engineering 4ay 3, 2016 Certified by.............. Signature redacted Alexandra H. Techet Associate Professor Thesis Supervisor Certified by........... Sig nature redacted CAPT Joel P. Harbour Professor of the Practice of Naval Construction and Engineering A - - Thesis Suuervisor A ccepted by .................. Signature redacted - Rohan Abeyaratne Chairman, Department Committee on Graduate Studies Department of Mechanical Engineering 2 An Experimental Study of the Human Interface with One Atmosphere Diving Suit Appendages by Christopher Michael Wilkins Submitted to the Department of Mechanical Engineering on May 3, 2016, in partial fulfillment of the requirements for the degrees of Naval Engineer's Degree and Master of Science in Ocean Engineering Abstract This experimental study of the human interface with an Atmospheric Diving Suit (ADS) develops a method for quantitatively evaluating how the pilot interacts with the suit's appendages to inform design improvements and to provide a baseline of joint performance for existing technologies. An Atmospheric Diving Suit is a one person anthropomorphic pressure vessel, with manually operated maneuverable appendages, capable of carrying a diver to great depths in the sea while maintaining the internal cabin pressure at one atmosphere (14.7psi). Commercial ADS are used regularly around the world in offshore industries, and military ADS are used by a large number of navies for submarine rescue capabilities. This study specifically investigates the performance of the arm rotary joints on the OceanWorks International HARDSUITTM rated for use as deep as 1200 feet of seawater, that are owned and operated by Phoenix International. The experiments were performed at Phoenix International facilities using their own experienced pilots and suits. Experiments were conducted with four different pilots, each performing a series of deliberate, repetitive arm motions while submerged in a shallow training pool. Each pilot was outfitted with a pressure sensor pad placed on the wrist at the major contact region with the appendage, and a series of inertial measurement units (IMUs) placed along the arm and suit. The results of the data analysis show the shape, location, magnitude and movement of the contact areas between pilot and appendage as well as peak pressures, dy- namic force loading profiles, impulse and work measurements experienced by the pilots across the specific motions performed. An analysis is performed on the force contributions of the hydrodynamic drag acting on the appendage during motion through the application of Slender Body Theory paired with motion data from the IMUs. 3 Thesis Supervisor: Alexandra H. Techet Title: Associate Professor Thesis Supervisor: CAPT Joel P. Harbour Title: Professor of the Practice of Naval Construction and Engineering 4 Acknowledgments The completion of this research could not have been accomplished without the significant support of many contributors. The following organizations and individuals were instrumental in the success of this project: Phoenix International for their enormous generosity in hosting our experiments and contribution of time and resources. Specifically, thanks to Tom Bisset, Terry Breaux, Gary Smith, Erica Lenhart, and Rostislov Haulik who dedicated significant time and effort for this research. The U.S. Navy for support through the STTR and other individuals and com- mands that contributed time and resources for interviews and tours. Thanks to LCDR Jonathon Gibbs, CAPT Keith Lehnhardt, Dr. John Camperman, Mr. Andy Little, and CDR Michael Runkle. The MIT Manned Vehicle Laboratory for guidance on experiment methodology, providing the sensors used in experiments, and training for equipment use and data analysis. Thanks to Dr. Dava Newman, Alexandra Hilbert, and especially Eddie Obropta, who was heavily involved in this research from beginning to end. MIDE Technology for access to their engineers and facilities and guidance for what research contributions would be most useful for advancing ADS technology. And of course a special thanks to my wonderful wife, Lindsay, who took care of Silas, Delia, and our newest addition while I was busy writing this paper. The author of this paper is a Lieutenant in the United States Navy, an Engineer- ing Duty Officer, and a U.S. Navy Salvage Diver. The author can be contacted at wilkins.c.mOgmail.com 5 6 Contents 1 Introduction 15 1.1 M otivation .................. ..... 15 1.2 Objectives, Aims, Contributions ........... 17 1.3 Thesis Outline ......... ............ 18 2 Background 21 2.1 A Review of ADS Design Evolution Through History 21 2.1.1 Earliest Versions of ADS Technology .... 21 2.1.2 Transition to Modern ADS Technology . .. 23 2.2 Present Day Use .............. ..... 25 2.2.1 Commercial Offshore Construction, Inspection, and Maintenance 25 2.2.2 Military Use as Submarine Rescue Capability 27 2.3 Modern Suit Limitations ........ ....... 28 2.3.1 Rang of Motion/Type of Motion ....... 28 2.3.2 M anipulator .............. .... 28 2.3.3 U.S. Navy Maintenance ........... 29 2.3.4 U.S. Navy Certification . ........... 29 2.3.5 U.S. Navy Inspiration for This Research .. 30 3 Experimental Design and Methodology Used to Identify the User Interface of the ADS 31 3.1 O verview .... ..... ..... ..... ..... .... .. .. 31 3.2 Setup and Design ..... ..... ..... ..... ... ..... 32 7 3.3 Sensors . ....... ........ ... 35 3.3.1 Sensor Type ...... ...... 35 3.3.2 Sensor Calibration ..... ... 36 3.3.3 Sensor Placement and Orientation . 37 3.4 Test Protocol .. ............. 37 3.5 Lim itations .... ....... ..... 40 4 Quantification of Human Interaction with ADS Appendage Through Data Analysis 43 4.1 Overview . .... ... 43 4.2 Peak Pressures .... 44 4.3 Forces . ........ 46 4.4 Inclusion of IMU data . 48 4.5 Discarded Data .... 52 4.6 Peak Forces And Torques 53 4.7 Calculations of Effort . 56 4.7.1 Impulse .. .. 56 4.7.2 Work . ..... 59 4.8 Functional Task .... 63 4.9 Hydrodynamic Drag . 65 5 Conclusion 73 5.1 Sum m ary . ...... ..... ...... ...... ...... .. 73 5.2 Lessons Learned.. ......... ............ ... .... .. 74 5.3 Future W ork ... ........ ........ ....... ..... 75 A Additional Data Plots 77 B ADS Test Plan 84 8 List of Figures 2-1 Lethbridge Diving Engine (Image Source: www.therebreathersite.nl, 2016) .... ........ ....... ........ ........ 22 2-2 Neufeldt and Kuhnke Diving Shell (Image Source: Scott, 1932) ... 22 2-3 Peress' Tritonia ....... ........ ......... ...... 23 2-4 N ew tsuit ........... ............ ........... 24 2-5 Nuytco Exosuit (Image Source: Nuytco.com, 2016) .. ........ 25 2-6 Diver in 1200 fsw Hardsuit (Image Source: Phoenix International) . 26 2-7 Navy Diver in 2000 fsw Hardsuit (Image Source: U.S. Navy) ... .. 27 3-1 Elbow Rotation ......... ............. ........ 33 3-2 Arm Raise ... ......... ........ ........ ..... 33 3-3 Test Subject Performing Functional Task ...... .......... 34 3-4 Novel Pressure Pad (left) and Hardware Systems (right) (Image Source: Anderson, 2014) ........ ............ .......... 35 3-5 Novel Calibration Tool (Image Source: Novel, 2013) .......... 36 3-6 Test Subject 1 Dressing Out ....................... 37 3-7 Graphical Representation of the Sensor Collecting Data: Cell readings and Colorbar units are kPA. The terminal ulna and radius are the bony points of a wrist used to mark the inside and outside of the arm. .. 38 3-8 Test Subjects Embarking the Suit .................... 39 3-9 Phoenix International ADS Training Pool and ADS Transportation via Crane ....... .. ................................... 39 3-10 Phoenix Dive Supervisor and MIT Investigator in Control Module .. 40 9 4-1 Characteristic Peak Pressure Plot of Both Movement Groups for Each Test Subject ...... ........ ........ ....... ... 44 4-2 Graphical Representation of the Sensor Collecting Data ....... 45 4-3 Snapshot of Test 3 Elbow Raise ..... ........ ........ 46 4-4 Characteristic Force Plots of Both Movement Groups for Each Test Subject . ..... .... ..... ..... .... ..... ..... 47 4-5 Representative Force and Arm Angle Plots for Test Subject 1 . ... 49 4-6 Representative Force and Arm Angle Plots for Test Subject 2 ... 50 4-7 Representative Force and Arm Angle Plots for Test Subject 3 . .. 51 4-8 Plot of Force vs Time of an Elbow Rotation Motion Group with Peak Forces for Distinct Movements Marked with Red Circles ..... .. 53 4-9 Plot of Force vs Time with Impulse Area Shaded and Values Labeled in Newtons-seconds for Test Subject 3, Arm Raise Group .. .... 57 4-10 Plot of Force vs Time for Each of the Functional Tasks Completed. 63 4-11 Orientation of Axes Overlaid on the Appendage ... .... ..... 66 4-12 Drawing of One Centimeter Wide Strips of the Appendage Used for Measuring Diameters .... ...... ..... ...... ...... 68 4-13 Calculated Drag Synchronized with Recorded Forces and Arm Angles for an Arm Raise Motion Group Performed by Test

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