UNIVERSITY OF WASHINGTON Human Powered Submarine 2015-2016 Design Report 1 Table of Contents List of Figures .......................................................................................................................... 4 List of Tables ............................................................................................................................ 5 Preface ...................................................................................................................................... 6 Executive Summary ................................................................................................................. 7 Hull ............................................................................................................................................ 8 Overview ................................................................................................................................ 8 Hull Form Performance .......................................................................................................... 8 Safety Systems .....................................................................................................................10 Pneumatics .......................................................................................................................................... 10 Pop Up Buoy ....................................................................................................................................... 11 Hatch Latch ......................................................................................................................................... 11 Life Support ...........................................................................................................................12 Ballast ...................................................................................................................................14 Propulsion ...............................................................................................................................15 Gearbox ................................................................................................................................15 Overview ............................................................................................................................................. 15 Goal ..................................................................................................................................................... 15 Concept Generation ............................................................................................................................ 15 Testing ................................................................................................................................................. 16 Concept Selection ............................................................................................................................... 17 Conclusion ........................................................................................................................................... 20 Propeller ................................................................................................................................21 Overview ............................................................................................................................................. 21 Goal ..................................................................................................................................................... 21 Concept Generation ............................................................................................................................ 21 Concept Selection ............................................................................................................................... 21 Design ................................................................................................................................................. 22 Manufacturing...................................................................................................................................... 24 Timeline ............................................................................................................................................... 25 Conclusion ........................................................................................................................................... 25 Hub .......................................................................................................................................25 Overview ............................................................................................................................................. 25 Goal ..................................................................................................................................................... 25 Concept Generation ............................................................................................................................ 26 Concept Selection ............................................................................................................................... 26 2 Design ................................................................................................................................................. 26 Manufacturing...................................................................................................................................... 33 Conclusion ........................................................................................................................................... 33 Controls ...................................................................................................................................34 Overview and Purpose ..........................................................................................................34 Control Planes .......................................................................................................................34 Overview ............................................................................................................................................. 34 Goal ..................................................................................................................................................... 34 Concept Generation ............................................................................................................................ 34 Concept Selection ............................................................................................................................... 35 Manufacturing...................................................................................................................................... 37 Conclusion ........................................................................................................................................... 38 Mechanical Controls ..............................................................................................................38 Overview ............................................................................................................................................. 38 Goals ................................................................................................................................................... 38 Concept generation ............................................................................................................................. 38 Concept Selection ............................................................................................................................... 38 Manufacturing...................................................................................................................................... 39 Conclusion ........................................................................................................................................... 41 Electrical Controls .................................................................................................................41 Overview ............................................................................................................................................. 41 Goal ..................................................................................................................................................... 42 Concept Generation ............................................................................................................................ 42 Concept Selection ............................................................................................................................... 42 Manufacturing...................................................................................................................................... 44 Conclusion ........................................................................................................................................... 45 Electrical Systems ..................................................................................................................46 Core ......................................................................................................................................46 Joystick .................................................................................................................................46 Design Specification ...........................................................................................................................