Home

pdf copy available here - Mechanical Engineering Department

Contents

1. utis 9 Name and Handling of Each Part 10 Transmitter Operation and Movement of Each Servo 14 INSTALLATION AND ADJUSTMENT 15 CONNEC HONS cR 15 ATSE asura 17 USING OTHER FUNCTIONS eere 18 Aileron Elevator Dual Rate D R Function 18 Non slip Adjustable Lever Head 18 Stick Lever Spring Tension Adjustment 19 Trainer 25 i Tene ir a 19 REFERENCE 20 11125555 22505 25 es adem hace Rd 20 Troubleshootin t u k u s ee nitens eoa 21 11055113 22 usaba usu EM C m 23 SAFETY INFORMATION To ensure safe use observe the following precautions Meaning of Special Markings Pay special attention to safety at the parts of this manual that are indicated by the following marks Mark Meaning A D ANG ER Procedures which may lead to a dangerous condition and cause death or serious injury to the user if not carried out properly N W ARNIN G Procedures which may lead to a dangerous condition or cause death or serious injury to the user 1f no
2. uu i Saa au 1 Ji i 2 108 3 aaa s D Pee 6 6 Ji bi ea a 6 FOUR MOTOR Ree ee eR ie haah 7 FIGURE 7 DISPLACEMENT HULL WITH HYDROPHONE ARRAY 9 FIGURE 8 HULL FRAME ARRANGEMENT a 12 FIGURES HOLE INSERTION beet DM 12 MOTOR MOUNTING BOLTS eva oed te ta 15 FIGURE T1 MINNKOTA TROLLING MOTOR 15 PIG Ti MOTOR MOUN T ar E uw a unas 16 IIGUREJ5 BLEECIRICALIONGLDOSURE sl ias 16 I ETE 1 1021 RANDE ses oo edes eee ud 17 CREC T ara a o etis 1 FIGURE 16 60 AMP FUSE FOR ELECTRICAL EQUIPMENT CIRCUIT 17 FIGURE 17 WATER TIGHT CONNECTION HULL EXTERIOR 19 FIGURE 18 WATER TIGHT CONNECTION HULL INTERIOR 19 11200 BE DO VOR cae 18 20 F FOOT Ph ap secos 20 FIGURE 21 POCOEFPBDALDCIBRCULTRY S tede A1 FIGURE 22 SERVO ACTUATED THROTTLE 0 21 FIGURE 23 SERVO
3. E 14 00 Total Cost 50 00 12 81 51 24 15 00 25 00 60 00 10 00 PIP 69 e eo e e2 eo eo N CO NO O O O O O O O O O 75 00 CO Hydrophone Array Bill of Materials Part Number Material Description Array 1 Frame 5052 32 Aluminum Sheet Mill Finish 0 081 2 Plate Cost included in of Materials for the hull Hydrophone p EE Propulsion System of Materials ait Density ota Thickness Width Length Diameter Length Ibs ft Weight Component Part Number Material Description inches inches inches inches inches lbs ft lbs Total Cost Motor 1 LM 1155000 Transom 2 5052482 Aluminum Plate 025 300 2600 3521 763 2565 Mount 3 5052 H32 Aluminum Piae 025 3 00 1400 3521 4 411 1273 4 5052 32 Aluminum Piate 025 3 00 30 3524 8 176 546 5 5052 92 Aluminum Plate 025 6 00 1200 3521 2 352 1092 6 iscalaneous Mounting Hardware 10 00 Electrical System Bill of Materials Total Density Ibs ft Part or Component Number Material Description Ibs ft Qty Cost Electrical 5052 H32 Aluminum Sheet Mill Finish 0 081 1 141 0 3962 1 29 Equ
4. 28 FIGURE 35 FIRST TEST FULL ASSEMBLY 29 FIGURE 36 MEASURED VELOCITIES IN 157 ROUND TESTING 30 FIGURE 37 SECOND TEST OF FULL ASSEMBLY nuyu ua sv tea too re Eae 32 FIGURE 38 MEASURED VELOCITIES IN 2NP ROUND TESTING 33 IV LIST OF TABLES TABLE SD ESIGN TON RANKING come u u su ide een s hum Ice 5 ION TANK TESTING uuu uu uay eR TABLE 3 FIRST TRIAL RESULTS COMPARISON TO DESIGN REQUIREMENTS 31 TABLE 4 DESIGN REQUIREMENTS COMPARISON aa 34 FABLE 2 CONS IRD COST 35 TABLE 6 PHIXDROPHONE ARRAY COST u tede 35 amp ELECTRICALS GOS uu ana Sisa Qhasa 36 TABLE O PROPULSION SYS p M C 36 TABLE SC ONTROL OYS EMC OS 37 TABLE 10 TOTAL BUDGET TRITON ROBOTICS ANTICIPATED 37 TABLE TOTAL EXPENSES FROM CLIENT 55 955 37 1 0 INTRODUCTION Triton Robotics has been contracted by the Project AQUA research group to design and build a mobile robotic vessel for the purposes of tracking and position monitoring of an underwater wal
5. 2 zig 5 D eliverables 8 8 x 5 5 27 28 29 1 3 4 5 6 7 1 11 12 13 14 17 18 19 20 21 24 25 26 27 28 3 1 2 3 4 7 8 9 10 11 14 15 16 17 18 21 22 23 24 25 28 1 2 3 4 7 8 9 10 11 14 15 16 17 18 21 22 23 2428 28 29 30 311 4 5 6 7 11
6. In Boatowner s Illustrated Handbook of Wiring Charlie Wing identifies three purposes of DC Grounding 1 Holding conductive housings of low voltage under 50 volts DC devices at ground potential by providing a low resistance return path for currents accidentally coming into contact with the device cases 2 Providing a low resistance return path for electrical current preventing stray currents that may cause corrosion 3 Grounding metal electrical cases to prevent emission from inside or absorption from outside of radio frequency noise RFI ABYC requires that grounding wires be sized no smaller than one wire size under that required for current carrying conductors supplying the device to which the grounding wire is connected A full treatment of this subject is not possible within the scope of these instructions and there is controversy surrounding the general subject of DC bonding of which DC grounding is a component It is suggested that installers not familiar with this subject consult one of the reference books listed elsewhere in these instructions Apply branch circuit labels and mount panel Apply a label for each of the branch circuits from the 30 basic labels provided If the appropriate label is not included the Extended Label Set of 120 labels may be ordered from your marine supplier PN 8039 Individual labels are also available from Blue Sea Systems for specific applications Refer to the label order form for a com
7. 2830928 34 Ship Reynolds Number 1 066 107 1 066 10 logio Rus 2 1061 2830928 34 2 n S 0 00378412 Cry C 0 05897265 0 00378412 0 004 0 06315677 Full Scale Ship V 3 58 V 6 04 ft s 2 R s 46 69 Ib p V 8 0 06315677 1 1 9365 6 047 20 96 R V 12 0 51 550 Trial 1 COND Crm 0 06492774 0 04296747 0 05136069 0 06418549 0 05689305 0 06093316 0 06881021 0 07235013 0 06792596 0 06486564 Vs ft s 6 04 6 06 5 81 5 65 6 00 6 23 8 29 7 95 7 62 7 95 Ib 46 69 30 68 33 97 40 42 40 30 46 62 93 83 90 77 78 10 Distance m 5 0038 5 0038 5 0038 5 0038 5 0038 5 0038 5 0038 5 0038 5 0038 5 0038 Ram 353866 0427 355171 8215 340713 4996 331330 6837 351925 2783 365281 0764 486119 0082 466109 2669 446642 9867 466109 2669 Ram 2830928 342 2841374 572 2725707 996 2650645 47 2815402 227 2922248 611 3888952 066 3728874 136 3573143 893 3728874 136 0 51 0 34 0 36 0 42 0 44 0 53 1 41 1 31 1 08 Time 5 5 44 5 42 5 65 5 81 5 47 5 27 3 96 4 13 4 31 4 13 Cem 0 005955095 0 00594973 0 006010687 0 006052174 0 005963119 0 005909089 0 005517923 0 005572975 0 005629696 0 005572975 Crs 0 003784119 0 003781402 0 003812239 0 003833172 0 003788183 0 003760788 0 003560144 0 003588633 0 003617898 0 003588633 Tow Tank Testing
8. 1 to full length Extend the antenna to its full length If the antenna is shortened the effective range of the radio signal will be shorter Always test the R C set before use Any abnormality in the R C set or model may cause a crash Before starting the engine check that the direction of operation of each servo matches the operation of its control stick If a servo does not move in the proper direction or operation is abnormal do not fly the plane Check that the transmitter Tx antenna is not loose If the transmitter antenna comes off during use control will be lost and the model will crash A CAUTION S When placing the transmitter Tx on the ground during flight preparations be sure that the wind cannot knock it over If it is knocked over the throttle stick may be pushed to full throttle the engine will speed up and create a very dangerous situation Q Do not touch the engine motor or FET amp speed control during and immediately after use They are hot and will cause a burn 5 Turning on the power switch Set the transmitter Tx throttle stick to idle 1 Turn On the transmitter Tx power switch 2 Then turn On the receiver Rx power switch Turning off the power switch Stop the engine 1 Turn Off the receiver Rx power switch Power OFF 2 Then turn Off the transmitter Tx power switch If the Tx power switch is turned off first the en
9. Faulty contact connection If the contact spring is deformed correct it Dirty contacts Wipe with a dry cloth Transmitter antenna Loose Not extended to full length Extend fully Crystal Disconnected Push in Wrong band Match transmitter receiver band Different from specification Replace with specified crystal Connector connection Incorrect wiring Reinsert Disconnection Push in Receiver antenna Close to other wiring oeparate from other wiring Cut Request repair Bundled Install in accordance with instruction manual Servo linkage Binding or looseness Adjust at the fuselage Motor electric motor plane Noise countermeasures Install a noise absorbing capacitor 21 _ REFERENCE C or ee 4 4 Glossary The following defines the symbols and terms used in this instruction manual Aileron AIL Control surface on the left and right sides of the Servo horn main wing of an aircraft It usually controls A part that is installed to the shaft of a servo banking of the aircraft which changes the rotating motion of the servo to linear motion and transmits the linear motion Channel to a rod Servo horns come in various shapes Represents the number of control functions It can also represent the number of servos that Servo mount are operated Base for installing a servo in the aircraft Down Stick Means down elevator It is the direction in Control for operating the transmitter wh
10. The visibility of the single lens camera was unobstructed However this remains to be tested for the 3 lens stereo camera The table below compares the requirements and results from all performed tests The total weight of the vessel and ballast 15 5755 The weight of the hull alone was found be 160 Ibs which is less than the maximum allowable weight of 200 lbs Figure 38 Measured Velocities in 2 Round Testing 33 Table 4 Design Requirements Comparison Requirement Speed without Array Effectively 4 knots 2 61 knots Client satisfie Leeds Speed with 159 6 Operate at 18 roll No Maneuverability Deiode Zero turning Turning radius Maneuverability 2 DOF 3 DOF Yes Control 2 hours at 75 thrust Partly satisfied Requirement than sufficient Camera Visibility Unobstructed by hull single lens lens stereo camera Dimensional 72 x 48 x 38 a 5 Hull Weight 200 Ibs 160 Ibs Battery Handling Easily removable Control System Satisfied Yes Autonomous Control Pipe electrical enclosure is Partly satisfied waterproof Waterproof electrical enclosure Waterproofing 5 9 TESTS NOT PERFORMED The only design requirement that was not tested for was that of measuring the roll angle Water tightness of the cover has not yet been tested because it is still not complete 34 6 0 COST ANALYSIS Table 5 Hull Construction C
11. ACTUATED STEERING CONTROL 22 IPIGUREZ4 SERVOOIBERING POSITIONS u a terea esee utter 22 FIGURE DREAKER Tua ayauya au 23 FIGURE 26 ELECTRIC TROLLING MOT OR eee eese eet vea plot beoe ege 23 TON TAN OL 24 FIGURE 28a DISPLACEMENT HULL MODEL 25 FIGURE 28a LONG CATAMARAN MODEL a 25 FIGURE 26 3 CATAMARAN MODEL 54i nen ine 25 FIGURE 26 TUBULAR HOLC EES 25 FIGURE 29 DISPLACEMENT HULL MODEL IESTING 25 FIGURE 30 RESISTANCE VS SPEED OF FULL SCALE DISPLACE MIEN HULL By BD ua 26 FIGURE 31 EFFECTIVE HORSEPOWER EHP VS EFFECTIVE SPEED FOR FULL SCALE MODEL DISPLACEMENT HOLL L 5 P4 D eatenus 26 FIGURE 67 1 4 INSPECTION t obe ici 21 1 28 2002 28 LIST OF FIGURES CONTINUED FIGURE 34 CAMERA AND INERTIAL SENSOR ENCLOSURFE
12. Bridge for each direction see Figure 21 Each pair of buttons cause the steering motor to energize clockwise or counterclockwise which turns the propulsion motor until the buttons are released The motor remains at its orientation until the steering is actuated again Remote actuation of the steering control is achieved through the installation of a DT 0 olm 20 Figure 22 Servo Actuated Throttle Control manipulating rocker arm mounted on a shaft to simulate the rocker steering pedal as shown in Figure 23 The rocker arm is driven through a linkage by a servo motor to the left and right steering positions as demonstrated in Figure 23 Steering Slider Mechanism Linkage 2 Rocker Arm Servo Motor 1 Figure 23 Servo actuated Steering Control Figure 24 Servo Steering Positions Left Steer Neutra 21 Right Steer The servo motors fastened to molded polyethylene blocks which are attached to the deck of each control pedal In addition to EE propulsion system control a remote actuated kill switch was installed The accompanied electrical system contains among other features two 50 amp mechanical breaker switches These breakers which allow Figure 25 Breaker Panel current to flow to the motors can be switched remotely for safety purposes A setvo motor is mounted to th
13. PROCESSOR 19 X20 1 2 MOUNTING PLATE X0 081 ITEM DESCRIPTION 911154 TRITON ROBOTICS ROBOTIC VESSEL 300 01 ELECTRICAL ENCLOSURE ELEM APPENDIX B OWNERS MANUAL Triton Robotics Robotic Vessel 2005 Owner s Manual Table of Contents 1 0 Congratulations on Your New Robotic Vessel L 4 Sal Ly NR E TM 4 Yon Roboltie Vessel 06 22 6 8 56 08488 ndn 5 2 0 6 3 0 Your Vessels Safety ue vea Een Prot ev p VIE anes 7 6 0 Before Operating General Assembly Instructions 9 6 1 Mountitis the Trolling MO Ors ned ree aed a e HERE aswa yao 9 0 2 Laune nina the BOO eni RERUMS 10 6 3 Making the Electrical Connections 11 FO REMOE Control OPC OM e de 11 TTE eh ree a 13 0 13 10 0 Technical 15 Appendixes Appendix Minn PD 50 Trolling Motor Instruction Manual Appendix B Futaba 6 Channel Radio Control System Instruction Manual Appendix C Blue Sea Systems DC Power Distribution Panel Instructio
14. Wednesday November 17 2004 Velocity m s 0 92 0 92 0 89 0 86 0 91 0 95 1 26 1 21 1 16 1 21 Crs 0 05897265 0 03701774 0 04535000 0 05813332 0 05092994 0 05502408 0 06329228 0 0667 7716 0 06229627 0 05929266 Crs 0 06315677 0 04119914 0 04956224 0 06236649 0 05511812 0 05918486 0 06725243 0 07076579 0 06631416 0 06328130 VM ft s 3 0178 3 0289 2 9056 2 8256 3 0012 3 1151 4 1456 3 9750 3 8090 3 9750 Vs knots 3 58 3 59 3 44 2 39 3 56 3 69 4 91 4 71 4 51 4 71 RT M Ib 0 75 0 50 0 55 0 65 0 65 0 75 1 50 1 45 1 25 1 30 Total Resistance Ibf Plot of Full Scale Total Resistance of Nominal Size Displacement Hull L 5 ft B 3 5 ft Displacement 288 16 versus Full Scale Hull Speed In Knots 100 00 90 00 80 00 70 00 60 00 50 00 40 00 30 00 20 00 10 00 0 00 2 00 2 50 3 00 3 50 4 00 4 50 5 00 5 50 Speed knots Full Scale Total Resistance lbf Power Full Scale Total Resistance Ibf 1 60 1 40 1 20 1 00 0 80 0 60 0 40 0 20 0 00 2 00 Plot of Full Scale EHP versus Full Scale Vessel Speed for Nominal Size Displacement Hull L 2 50 5 ft B 3 5 ft Displacement 288 Ibs 3 00 3 50 4 00 Speed knots Full Scale EHP Power Full Scale EHP 4 50 5 00 5 50 APPENDIX E GANTT CHARTS Aaron Caldwell A Amy MacFarlane AM Guillaume Ge
15. commercially available part cleaner to clean parts Keep cigarettes sparks and flames away from the batteries You should wear proper eye protection and protective clothing when working near batteries or when using compressed air Batteries Check all battery terminals for corrosion a white or yellowish powder To remove this powder cover the terminals with a solution of baking soda and water The solution will bubble and turn brown Wash away this new solution with clean water and wipe the terminals clean with a dry towel Check battery Specific Gravity at least every 3 months with a hydrometer and recharge if the battery SG reaches 1 240 Store the batteries in an unheated dry area the colder the area the slower the rate of discharge Battery terminals and related accessories contain lead and lead compounds Wash hands immediately after handling To connect a battery be sure to have placed it in the battery mount before attempting to connect it Always connect the positive terminal to the positive bus bar first When disconnecting batteries always disconnect the negative cable first and reconnect it last Clean the battery terminal with a common terminal cleaning tool or wire brush if no powder is present Reconnect and tighten the cables then coat the terminals with grease When it comes time to charge the batteries remove all batteries from the robotic vessels hull This will prevent damage to the vessels electrical syste
16. inside a 22 x 20 1 2 x 5 aluminum enclosure See Figure 14 designed to protect the electrical components The enclosure is of welded 0 081 thick 5052 H32 aluminum sheet construction 15 Camera enclosure See Drawing RV 301 01 Camera Arrangement was fabricated from 0 081 thick 5052 H32 aluminum sheet The enclosure carries a Plexiglas viewing port to provide an underwater view for the camera The enclosure is 100 watertight to prevent flooding of the vessel should the Plexiglas or associated components fail An aluminum frame See Figure 14 to mount the camera and gyroscope in the camera enclosure was constructed from 1 2 6061 T6 aluminum square bar and 1 8 thick 5052 H32 aluminum sheet Figure 13 Electrical Enclosure The four batteries will also be mounted to the vessel using small aluminum frames made of from 0 081 thick 5052 H32 aluminum sheet It was determined that two separate circuits would be incorporated into the electrical system one for the motors and one for the electrical equipment The motor circuit consists of three 12V 103 amp hr batteries a negative and positive bus bar to distribute the power two 501 thrust trolling motors 50 amp breaker for each motor a main kill switch operated by remote control and a grounding line The grounding line is 6 gage wire and all other wiring is 8 gage All connections are made through spade clips Three small frames of aluminum construc
17. maintain a precise distance between the hydrophones Hydrophones should be submerged one meter below surface of water Vessel will be capable of manual remote operation from shore to location of underwater robot then switched to autonomous control for tracking of underwater robot Waterproofing of the electrical components of the raft is necessary Provision will also be made for cooling electrical components Unobstructed field of vision for the underwater camera is required Construction materials and electrical equipment magnetic field considerations concerning possible influence on digital compass will be considered 2 1 DELIVERABLES Due by April 2005 Triton Robotics will deliver the following to the client A working prototype capable of remote manual control documentation of the design and construction of the vessel and a procedures and maintenance manual The contractor will provide training to Dr Pifu Zhang and Weimen Shen for the purposes of operation and maintenance The contractor will not be responsible for the installation of any electrical equipment except that necessary for the manual operation of the vessel 2 2 INTELLECTUAL PROPERTY The prototype vessel will be the property of PROJECT AQUA The contractor has agreed to sign an Intellectual Property Agreement with the client for any future commercialization of the prototype vessel 2 3 CLIENT RESPONSIBILITIES The client is responsible to cover the cost of building th
18. or rebuild the nicd battery Breakage overheating and electrolyte leakage may cause injury burns or blindness Nicd Battery Electrolyte The electrolyte in a nicd battery is a strong alkali and can cause blindness 1f it gets in the eyes If you get the electrolyte in your eyes immediately wash your eyes with water and see a doctor If you get the electrolyte on your skin or clothes it may cause a burn Immediately wash it off with water 7 A CAUTION Q Do not store the R C set in the following places Where it is very hot 75 F 40C or more or very cold 18 F 10C or less Where the set will be exposed to direct sunlight Where the humidity is high Where there is strong vibration Where it is dusty Where there is steam and heat Storing the R C set in the places listed above may cause distortion corrosion and product failure If the R C set will not used for long time remove the batteries from the transmitter and the model and store them in a dry place If the batteries are left in the transmitter and model the battery electrolyte may leak out and damage the system degrade the performance and shorten the life of the transmitter and model Nicd Battery Recycling for USA only Used nicd batteries are an important resource Stick tape over the terminals and take the used batteries to a nicd battery recycling center The RBRC Battery Recycling Seal on the nickel cadmium Ni Cd battery
19. position automatically With the controller you must reposition the motors to follow a straight path Figure 4 Remote Controller Your robotic vessel has superb maneuverability and with various propulsion motor orientations you can move in any direction on the water surface with not much more than its own footprint required for turning Note that the remote control is equipped with a kill switch Do not hesitate to use this switch as it was designed with safety considerations in mind If the automatic kill switch is used it can simply be turned back on by flicking the switch back to its original position when it is safe to do so 12 It is suggested that the inexperienced driver begin at low speeds gradually increasing as controllability becomes more comfortable With some practice you will soon master the control of your robotic vessel expanding the domain of aquatic exploration 8 0 Disassembly De energize the motors by activating the remote kill switch Disconnect the Neg 3 wire from the negative terminal of battery 3 Disconnect the Neg 2 wire from the negative terminal of battery 2 Disconnect the Neg 1 wire from the negative terminal of battery 1 pupa s Disconnect the Pos 3 wire from the positive terminal of battery 3 Disconnect the Pos 2 wire from the positive terminal of battery 2 Disconnect the Pos 1 wire from the positive terminal of battery 1 Remove batteries fro
20. via a receiver This arrangement will provide a mechanical solution to controlling and operating the vessel The servos will be used to independently control the speed and direction of both the bow and stern motors One servo will be dedicated to perform a kill switch operation This one of the safety features that this robotic vessel will be equipped with 10 4 0 CONSTRUCTION DETAIL The overall design may be broken down into main elements see Drawing RV 000 00 General Arrangement e Hull Hydrophone array e Propulsion e Electrical equipment e Control system Although each element will ultimately be integrated into our completed design for the purposes of a description of construction details each will be examined separately 4 1 HOLL Triton Robotics chose aluminum as the material for hull construction Aluminum was chosen for its strength light weight and corrosion resistance In addition aluminum is a forgiving material for vessel construction readily able to be cut and re welded to allow for modifications or design changes The hull is a simple flat bottomed barge type design overall length 60 breadth 42 depth 24 The construction of the hull consisted of aluminum sheet welded over an arrangement of longitudinal and transverse frames See Figure 8 SU 220 Figure 8 Hull Frame Arrangement 11 The outer hull plating is 5052 H32 0 081 thick aluminum sheet The hull is flat botto
21. voltage drop In general items which affect the safe operation of the boat and its passengers running lights bilge blowers electronics use 3 all other loads use 10 5 Starting in the column which has the right voltage and voltage drop run down the list until arriving at a value which is greater than the calculated Famps Move left to the Ampacity column to verify that the total amperage of the circuit does not exceed the maximum allowable amperage of the wire size for that row If it does move down until the wire ampacity exceeds the circuit amperage Finally move left to the wire size column to select the wire size Example a 12 volt system at 10 drop with 40 circuit x 45 amps 1800 Famps A wire size of 8 is required Voltage gt 12 12 24 24 32 32 Ampacity Volt Drop gt 3 1096 3 10 3 10 Famps Famps Famps Famps Famps Famps Wire Wire Wire Ampacity Size engine 16 25 0 21 3 86 288 173 576 230 768 14 35 0 29 8 138 459 275 918 367 1223 12 45 0 38 3 219 729 437 1458 583 1944 10 60 0 51 0 348 1159 695 2317 927 3090 80 0 68 0 553 1843 1106 3686 1474 4915 120 0 102 0 8 9 2929 1757 5858 2343 7811 4 160 0 136 0 1398 4659 2796 9319 3727 12425 2 210 0 178 5 2222 7408 4445 14815 5926 19754 245 0 208 3 2803 9342 5605 18684 17474 24912 285 0 242 3 3536 11788 7073 23576 9430 31434 00 330 0 280 5 4457 14858 8915 29715 11886 39620 000 385 0 327 3 5619 18731 11239 37462 14985 499
22. you to potential hazards that could hurt yourself and others We recognize it is not practical or possible to warn you about all the hazards associated with the operating or maintaining your robotic vessel It is the responsibility of the user to actively use their good judgment when operating or maintaining your robotic vessel You will find important safety information represented with these three safety symbols Orange you can be KILLED or seriously hurt if you don t follow the instructions Yellow you can be hurt if you don t follow the Red you will be KILLED or SERIOUSLY hurt if you don t follow the instructions 3 0 Your Robotic Vessel at a Glance Camera Enclosure Figure 1 Robotic Vessel External View NAUTILUS way o 2 NAUTILUS cama zm View _ Figure 2 Robotic Vessel Internal 4 0 Important Safety Precautions Reading this manual you will find many safety recommendations throughout this section and throughout this manual The specified recommendations on this page are considered by Triton Robotics to be of the utmost importance Robotic Vessel is not for Passenger Transport Your remote robotic vessel is under no circumstances be used to transport or support a person The vessels hull is structurally strong enough to support the weight a person however for their safety c
23. 32 ALUMINIUM SCHEDULE 40 PIPE TRITON ROBOTICS Project ROBOTIC VESSEL Drawing 301 01 CAMERA ARRANGEMENT Unless Otherwise Noted Materia ALUMINIUM 115 Units inches Angles 5 5 4 005 4 025 A CALDWELL X 01 02 097 M J CARTER 6 05 Fi Inches a Y 3 ROB OTICS Project ROBOTIC VESSEL Urawing RV 200 01 ARRAY GENERAL ARRANGEMENT Unless Otherwise Noted Material ALUMINUM Units mm Units inches Angles XXX 5 005 025 Dwn By Ji SLAUNWHITE XX 25 x xx 01 x 4 50 xxd 02 By R VAUGHAN pate JAN 12 05 ese 1 20 INCHES am 3 RV 20006 ARRAY UPPER CONNECTING ANGLE 6 G RV 200 16 ARRAY LEFT UPRIGHTANGLE 2 B RV 200 5ARRAY RIGHTUPRIGHTANGLE 2 S RV 20004 ARRAY RIGHTCORNER 1 NOTE ALL CONECTIONS BOLTED UNLESS OTHERWISE STATED 3 ANGLES WELDED TO PLATE POSITIONING TBD DURING ASSEMBLY 63 TRITON ROBOTICS Project ROBOTIC VESSEL Drawing RV 200 02 ARRAY EXPLODED VIEW Unless Otherwise Noted Material ALUMINUM Units mm Units inches Angles 5 xx 4 005 4 025 Br J SL AUNWHITE XX 25 X xx 01 x 4 50 xxd 02 By R VAUGHAN pate JAN 12 05 ese 1 20 INCHES 9 X20 172 CPU MOUNTING PLATE ACOUSTIC
24. 50 0000 445 0 378 3 7086 23620 14172 47241 18896 62988 Note For wire with 105 C insulation rating AWG wire sizes Chart courtesy of the West Advisor APPENDIX C DETAILED BILL OF MATERIALS Component Frame Members Hull Plating Part Number ERE BN UR NK Hull Bill of Materials Material Description 6061 T6 Equal Leg Aluminum Angle 0 125 1 5 60 5052 H32 Aluminum Sheet Mill Finish 0 081 24 60 5052 H32 Aluminum Sheet Mill Finish Channel Depth inches ota Area Length ft ft 075 __ _ L 3305 442 645 es j 1050 1000 __ 65 __ 707 L 66 700 Total Cost 0 90 4 20 15 66 5 30 GP 7 74 3 90 2 60 2 00 7 86 8 49 20 53 1 56 1 48 12 00 29 52 19 11 30 05 68 6 66 15 52 18 61 53 17 65 13 69 66 IN Component Misc Part Number 26 Wa TES M XN 29 2 3 30 N IN TIN CO Hull Bill of Materials Material Description p Flange 5052 H32 Aluminum Plate 0 250 Sea Sense 12 volt Bilge P P Float and Fittings 6061 T6 10 Sch 40 Pipe Cover 5052 H32 Aluminum Plate Handle Marine Paint Metal Primer Paint Shop supplies fasteners etc Channel Depth inches Qty N O II Jo
25. CK 5052 H32 AL SHEET WATER TIGHT FLOOR BOW 1 Unless Otherwise Noted Units inches Angles XXx 5 xxx 005 4 025 Dwn H VAUGHAN XX 25 x xx 4 01 By CARTER au Fus Pee NCHES 1 4 26 13 16 42 716 4 15 16 SECTION A A 1 e DETAIL A ITEM W PP DESCRIPTION 0 081 THICK 5052 H32 AL SHEET FABRICATED HANDLES 1 1 2 x 1 1 2 x 1 8 6061 6 AL ANGLE 1 1 2x 1 1 2 x 1 8 6061 T6 AL ANGLE 1 1 2 x 1 2 x 1 8 6061 T6 AL ANGLE SEE DETAIL A QUANTITY 1 2 1 2 1 NOTES 2 5 TO BE CUT TO FIT y 2 ALL WELDS MUST BE CONTINUOUS AND WATER TICHT 3 WEATHER SEAL BE INSTALLED 2 INSIDE ANGLE DETAIL FRONT ANGLE 4 ALL AL FRAME ENDS TO BE CUT AT 45 DEG TRITON ROBOTICS Project ROBOTIC VESSEL Drawing RV 100 07 HULL COVER ARRANGEMENT Mte SEE TABLE VAUGHAN CARTER JAN 08 05 Scoe 1 15 JwsINCHES Steet 7 of 7 Unless Otherwise Noted Units mm Units inches Angles X 15 Xx xxx 005 4 025 XX 4 25 x xx 01 X 4 50 xx4 02 24 ENCLOSURE CAP RUBBER GASKET 3 _4 NOMINAL PIPE 1 SHIP S HULL _ STUDDEDFLANGE 7 PORMOLEFLANBE 2 9 1 4 PLEXIGLASS IE ENCLOSURE MANUFACTURED FROM 5052 H
26. Cost init omponen Please note that the initial expected budget was P EINE 7 200 00 The expected cost we best estimated at Hydrophone Array 37 08 3 841 08 Our Client tabulated Triton Robotics pi eos has expensed 4 650 71 and 18 therefore Electrical System 866254 approximately 2 549 29 under budget 600 00 3 340 07 Please refer to Appendix C Detailed Bill of Materials HST 15 501 01 for detailed listings of all construction components Total Cost 3 841 08 Table 11 Total Expenses Total Expenses Total Cost 516998 Hydrophone Array Propulsion System 1 782 50 Electrical System 1 198 23 Control System 300 00 Sub Total 3 953 11 HST 15 697 60 Total Cost 4 650 71 37 6 0 SUMMARY AND CONCLUSIONS Triton Robotics is confident that all of the design requirements will be met to the client s satisfaction on or before the handover date The anticipated handover date with our client is yet to be set but it will be in late April 2005 There are no roadblocks anticipated with delivering the completed vessel to the client 6 1 PATH FORWARD Based on the completion of the tasks that are outlined in the attached Gantt Chart the project is coming to a close All group members will leave their contact information with the client for future questions and consulting A documentation package including an owner s manual will be supplied to the client when the handover t
27. Figure 35 First Test of Full Assembly The requirements of the design regarding these are as follows 29 The vessel was required to reach a speed of 2 knots in a moderate breeze 11 16 knots wind speed in a current of 2 knots without the hydrophone array attached There were no speed requirements 2 2 the hydrophone array attached e The vessel was required to operate at a roll angle of 18 degrees This was not measured during testing however the client is satisfied with this e The vessel was required to be controlled in at least 2 DOF surge and yaw and to also have a zero degree turning radius Apparatus Full prototype without cover e Tools e 135 lbs of concrete for ballast e 1 Truck for transport e 1 Dolly for transport Methods Ihe robotic vessel was placed in the water with the batteries motors circuitry controllers and ballast on board The vessel was then driven remotely The tests performed included The speed testing with and without the array were the only quantitative tests performed during this first motorized pool trial The vessel was accelerated at full thrust from a full stop the elapsed time was measured from one checkpoint to another start to finish using a time clock hung on the wall Results and Discussion Figure 36 presents the results from the speed trials The operator had some difficulty keeping the boat on a straight course during these trials This may be i
28. H Weight 60 Ibs serial s 4851739 481752 4851741 481748 16 DC Power Distribution Panel Blue Sea Systems Part Number Amperage Rating Circuit Breakers 8085 100 Amps continuous current 2 x Blue Sea series 50 Amp breakers DC Power Fuse Block Blue Sea Systems Amperage Rating 60 Amp fuse block Remote Control Futaba Skysport 6 FM Digital Transmitter Model T6YG Proportional R C System Transmitting Frequency 79 950 MHz Channels 6 FCC ID AZPT6YG 72 Receiver Model FP R127DF Channels 7 FCC ID AZP FP R127DF 75 17 6 CHANNEL RADIO CONTROL SYSTEM lt SKXKVSPUNTI EsI 6YG FM INSTRUCTION MANUAL 1M23N04606 Copyright 2000 07278562 Thank you for purchasing a Futaba 6YG Before using your 6YG read this manual carefully and use your R C set safely After reading this manual store it in a safe place See the glossary page 22 for a definition of the special terms used in this manual APPLICATION EXPORT AND RECONSTRUCTION 1 This product may be used for model airplane or surface use if on the correct frequency 2 Exportation precautions a When this product is exported from Japan its use is to be approved by the Radio Law of the country of destination b Use of this product with other than models may be restricted by Export and Trade Control Regulations An applic
29. Modulation Power requirement 12V penlight battery x8 or 9 6V nicad battery Current drain 180mA Servo S3003 Standard servo Power requirement 4 8V or 6V common with receiver Current drain 8mA idle Output torque 3 2kg cm at 4 8V Operating speed 0 23sec 60 degrees at 4 8V Size 40 4x19 8x36mm Weight 37 2g Receiver R127DF 7 channels FM receiver Receiving frequency 50 72 or 75 MHz Intermediate frequency 1st IF 10 7MHz 2nd IF 455kHz Power requirement 6V penlight battery x4 4 8V or 6v NiCd battery common with servo Current drain 10mA Size 64 3 x 35 8 x 21mm Weight 40 5g Receiver R147F 7 channels FM receiver Receiving frequency 29 35 36 40 41 72 MHz Intermediate frequency 455kHz Power requirement 6V penlight battery x4 4 8V or 6v NiCd battery common with servo Current drain 14mA Size 24 2 x 64 x 17 6mm Weight 26g Note Specifications and ratings are subject to change without prior notice and may differ from country to country 20 Troubleshooting If your R C set does not operate its range is short it intermittently stops operating or it operates erroneously take the action shown in the table below If this does not correct the trouble please contact a Futaba dealer Check point Check item Action Transmitter receiver battery Dead battery Replace the battery Charge the NiCd battery Incorrect loading Reload the batteries in the correct polarity
30. NSIBILITIES Sasu aS 4 0 DESIGN SELECTION urr y i E A a a ES 5 3 DESIGN SEGECTION RANKING Z uu Du eoe ate etes b iqu u la EM Sur misi 5 rn n Oyu O ubus 6 821092 A E A IBN POTE 1 6 ON Peseta E 3 2 7 SBEBCTED DESIGN tectam Aena ae L S 8 7217 c 8 tel Saas 9 PSI EE 9 El BO ib uuu T rcm 10 OTTO VSS ns la H Y 10 4 0 CONSTRUCTION DETAIL 11 p 11 Z7 PYRO PEO INE ARPA Y i DAL LM pl c aes 14 zS 1 14 PLECTRICALEQIIMENP u uu uu u 15 AS CONTROLS STEM u ADM Li M DU AM LM ADS e 18 S TESPING u uuu uio Eo ALD 23 SN E B BUSTO M D TES C NER 23 S Borg EBS B SE RE w n 24 FINA MODE TESTINGL E u n te 25 EYE SKOPE ERRORES 27 STEPIP P
31. OPSPOOEZIZ miu us mmm sa sa n 27 STOLPA TESTING ITHE say matu s say mu 28 eal a S y ie Lee n A Qa ku ie RO SE 29 S05 SECOND WIOTORIZE DT RIAU 52 saam ng eon be duo ed tetro BRUNO ST SRB 31 2 02 22 D 02 34 35 6 0 SUMMARY AND CONCLUSION S 38 oA TIPO 38 APPENDICES Appendix A Drawings General D eiectus es 1 Rey 2100202 Full Feme DINEM OMS DUREE 2 100 05 Hal Foot a ___ 3 13725186 Cover trans eod Rb eb 4 ette at ue Pura IV 200301 Array General 6 2006802 View esie bud ae na d att ebd Appendix B Owners Manual Appendix C Detailed Bill of Materials Appendix D Hull and Propulsion Calculations Appendix E Gantt Charts LIST OF FIGURES FIGURE 1 AQUA UNDERWATER
32. a minimum the maneuvering system will control the vessel s motion in two horizontal DOF surge and yaw The vessel will have a zero turning radius e The maneuvering system will be battery powered e Batteries will be easily removable for replacement and or recharging e The vessel will be capable of remote manual operation adaptable for autonomous control e Provisions for the mounting of the electrical payload including the following will be provided Inertial Navigation Sensor Digital Compass Camera with USB interface Laptop or PC Tower Two Inclinometers Differential GPS Wireless Ethernet card Data Acquisition Board Inverter O e Means will be provided for mounting four Dolphinear hydrophones e Budget for handover of project deliverables will not exceed 7 200 CDN Propulsion system 3 600 CDN Frame for electrical equipment 1 000 CDN Waterproofing 1 000 CDN Vessel Construction 600 CDN Miscellaneous expenses 1 000 CDN e The vessel will be capable of at least two knots 1 m s speed over bottom in Moderate Breeze conditions Beaufort Force 4 or 11 to 16 knots wind speed in a current of 2 knots O O O O Operational endurance will at least 2 hours at 75 of maximum thrust e Vessel will be designed for operation in fresh or salt water and of corrosion resistant construction Mounting arrangement for hydrophones should be very rigid and sturdy to
33. akes place it has been included in this document in Appendix B as requested 38 APPENDIX A DRAWINGS MOUNT 4 TRITON ROBOTICS Project ROBOTIC VESSEL Drawing RV 000 00 GENERAL ARRANGEMENT Unless Otherwise Noted Units mm Units inches Angles X 15 x xxx 005 4 025 Dwn J Slaunwhite XX 25 x xx 01 x 4 50 xxd 02 MacFarlane JAN 13 05 scale NTS ws Inches Material Aluminum BOW STIFFENERS ARE EQUAL SPACED 2 7 5 ALL CORNERS 6 10 5 WELDED 90 DEG 6 CORNER PIECES ARE TO BE CUT AT 45 DEG STIFFENER PLACED FOR MOUNTING OF ARRAY SECTION A A Project ROBOTIC VESSEL Drawing RV 100 02 HULL FRAME DIMENSIONS Unless Otherwise Noted Materia 606 T6 AL Units mm Units inches 5 xX xxx 005 0 25 VAUGHAN N XX 25 x xx 4 01 ML X 50 xx 02 By CARTER NL JAN 09 05 115 units INCHES 29 114 WATER TIGHT FLOOR BOW ITEM 2 s NOTES I POSITION OF VIEWPORT CAMERA HOLE ON ITEM TO BE DETERMINED AFTER INSTALLATION OF WATER TIGHT FLOOR 4 2 EXPANDABLE FOAM WILL BE INSERTED AFTER INSTALLATION OF WATER n TIGHT FLOOR TIGHT FLOORS ITEM DECSRIPTION QTY TRITON ROBOTICS 1 0 081 THICK 5052 H32 AL SHEET WATER TIGHT FLOOR 1 2 0 081 THI
34. al 1s exposed 6 Connect the negative motor lead labeled Lead Neg to the wire connected to the top of the hull labeled Motor Neg 7 Wrap the connection with electrical tape so that no metal 15 exposed 8 Plug the 7 pin male connector from the motor into the 7 pin female connector attached to the top of the hull 9 Connect the 9 pin female wire from the control box labeled Front Control F to the 9 pin male connector mounted through the hull near the front of the vessel labeled Front Control M 10 Connect the grey wire labeled Kill Switch which is connected to the breaker box at the rear of the vessel to slot 6 labeled Kill Switch in the Futaba receiver pack which 15 located in the control box 11 Connect the control battery pack wire into slot 1 labeled Battery in the Futaba receiver pack and turn the attached switch to the ON position The breaker can now be switched on and off using the remote control 12 Test the controls by hitting the kill switch on the remote control If the breaker position does not change check the control connections and try again 13 If the breaker position CAN be changed using the remote control ensure that the breaker is in the OFF position and continue on to 2 0 Launching the Boat 6 2 Launching the Boat With both motor shafts in the horizontal position slowly slide the boat into the water NOSE FIRST Once in the water secure the boat to land usin
35. anged reset it by adjusting the length of the rod with the clevis When the throw is unsuitable different from the deflection angle specified by the kit instruction manual adjust it by either changing the servo horn the position of the linkage on the servo horn or the linkage position on the control surface horn 3 Check the engine throttle speed adjustment linkage Change the servo horn installation position and hole position so that the throttle is opened fully when the throttle stick is set to HIGH forward and is closed fully when the throttle stick and throttle trim are set for maximum slow backward position and lower position respectively 4 After all the linkages have been connected recheck the operating direction throw etc Before flight adjust the aircraft in accordance with the kit and engine instruction manuals 5 Fly the plane and trim each control for straight and level flight 17 UsiInG OTHER FUNCTIONS Aileron Elevator Dual Rate D R Function The maximum travel of the aileron and elevator servos can be altered by operating the dual rate switch For instance when the switch is in the lower position the deflection angle is the normal deflection angle The normal deflection angle at the low switch position can be adjusted by the dual rate trimmers AIL ELV The rate can be adjusted from 50 position 0 to 100 position 10 of the maximum deflection angle When the switch is set to the upper
36. ar for all positive connections of each of the four batteries as well as one for the negative connections The person connecting the battery terminals to the bus bars must use extreme caution not to make any direct or indirect connection between the positive and negative terminals on the batteries as well as on the bus bars located on the hulls interior stern wall CAUTION Transporting and Placing Batteries Be sure that when it comes time to transport or have contact with the batteries that your hands and arms are not wet It is a known fact that water and electricity do not mix your 12 volt batteries are no different therefore use caution when transporting or placing the batteries 6 0 Before Operating General Assembly Instructions It 15 extremely important that all assembly instructions DANGER be followed in the order they are presented here 6 1 Mounting the Trolling Motors The trolling motors should be mounted when the hull 1s on stable land Rear Motor 1 2 3 E 10 Ensure motor shaft 15 in the locked horizontal position Place the trolling motor so that the 6 mounting bolts attached to the hull slide into the holes drilled into the mounting plate attached to the motor Install flat and lock washers and tighten nuts to the mounting bolts using 19 mm lug wrench Unlock the rear motor shaft by pulling the Grip lever back and sliding the shaft of the motor for
37. ation for export approval must be submitted 3 Modification adjustment and replacement of parts Futaba is not responsible for unauthorized modification adjustment and replacement of parts of this product The Following Statement Applies to the Receiver for U S A This device complies with part 15 of the FCC rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation part of this manual may be reproduced in any form without prior permission The contents of this manual are subject to change without prior notice This manual has been carefully written Please write to Futaba if you feel that any corrections or clarifications should be made Futaba is not responsible for the misuse of this product CONTENTS 2 SAFETY INFORMATION 4 Meaning of Special Markings 4 Precautions During Flight 4 NiCd Battery Charging Precautions 6 Storage and Disposal Precautions 7 PLC CAUTIONS 2 02 52 9 BEFORE USE 5 1 eU codes com 35545525 238 5222 9 ea
38. breaker of the correct size protecting the positive feed wire In the case of the 24 position panel jumpers from positive bus to positive bus and from negative bus to negative bus should be the same size as the positve feed and the negative return wires 5 Install branch circuit wires Determine the proper wire size for each branch circuit using the guidelines in step 4 Verify that the standard 15 amp circuit breakers installed in the panel are large enough for each branch circuit Remove and replace with a higher amperage any that are undersized Connect the positive red branch circuit wires to the load terminals of each circuit breaker Connect each negative black or yellow branch circuit wire to the DC Negative Bus DO NOT CONFUSE THE DC NEGATIVE BUS WITH THE DC GROUNDING BUS 6 Installation of Backlight System Connect the yellow negative wire to the panel negative bus To activate the label lights by the boat s battery switch connect the red positive wire to the DC panel positive bus To activate the label lights by an independent switch or breaker connect the red positive wire to the load side of the switch or breaker 7 Optional install grounding system wire The grounding wire bare green or green with yellow stripe and normally non current carrying should not be confused with the negative ground wire black or yellow and normally current carrying FROM DC POSITIVE TO DC NEGATIVE Installation continued
39. e TRITON ROBOTICS Memo To Dr Marek Kujath From Aaron Caldwell Michael Carter Guillaume Gervais Amy MacFarlane Jeramy Slaunwhite Rob Vaughan CC Date April 8 2005 Re Final Report for Robotic Vessel Dear Dr Kujath Please accept the attached document as our final report that details our progress to design and construct a robotic vessel as requested by our client the Project AQUA Research Group The construction of this vessel took place between January and April of 2005 We trust that this document will satisfy the requirements for completion of the winter term for MECH 4020 Design Project Best Regards Rob Vaughan For Triton Robotics FINAL REPORT TRITON ROBOTICS MECH4020 DESIGN PROJECT FINAL REPORT TRITON ROBOTICS Team 9 Aaron Caldwell Mike Carter Amy MacFarlane Guillaume Gervais Rob Vaughan Jeramy Slaunwhite Supervisor Dr Marek Kujath Client Project Aqua Date April 8 2005 TABLE OF CONTENTS 1 1 PRO IEG TO 2 __ __ ___ ___ _____ 1 PZ PROTIECIOOBIECTIVESeS 2 20 DESIGN REQUIREMENTS 3 2D LA PL ALI LUI 4 ZANTEL LEE TUAE POPER P 4 2 3 CLIENT RESPO
40. e breaker panel and a plastic arm switches the connected breaker switches Figure shows the servo arm in the off position To reenergize the motors the arm rotates clockwise which pulls a cord connected to the switches moving them to the on position 22 5 0 TESTING It is important to perform testing in order to define realistic requirements and measure actual results to see if previously defined requirements were met The table at the end of this section contrasts the design requirements with all final results 5 1 OUTBOARD TESTING Location Portuguese Cove Lake Date October 99 2004 Requirements The purpose of the test was to determine the thrust potential and endurance of an electric motor figure 26 and a small freshwater fishing boat There were no expected results for this test Apparatus e 1 Electric trolling motor 30 lbs of thrust e 1 Automotive lead acid battery gt i e 1 15 foot flat bottomed freshwater fishing Tous 26 Electric Motor boat 3 People aboard Method Three team members boarded a 15 ft long flat bottomed boat The boat was propelled by an outboard motor producing 30 pounds of thrust The motor was powered using a small fully charged automotive battery Results and Discussion A speed of 2 38 knots was attained at maximum battery power It was found that the battery lead acid automotive had 45 minutes of useable power The motor provided suf
41. e design requirements The tests performed were e Speed testing with the array e Speed testing without the array Stability e Battery depletion e Camera vision 31 The corresponding design requirements were effective speed of 4 knots without the array attached e No speed requirement was set for the vessel when the array is attached twas required that the vessel be operable without disruption at a roll angle of 18 degrees This again was not measured e The batteries needed to provide enough power for 2 hours at 75 thrust It was required that the camera visibility be unobstructed by the hull or any part thereof Apparatus Full prototype without cover Tools 120 lbs of concrete for ballast e 1 Truck for transport e 1 Dolly for transport Methods The prototype was transported to the Dalplex pool using a truck and dolly Once at the pool the motors bow and stern were mounted the vessel was placed in the water the batteries were placed into the vessel the proper electrical connections were made and the hydrophone array was assembled refer to user s manual in the appendices A rope was tied to the vessel for safety purposes Figure 37 Second Test shows the robotic vessel in the pool with the hydrophone array attached Figure 37 Second Test of Full Assembly Speed trials were performed with and without the array in the same manner as in the previous round of te
42. e prototype up to 7 200 CDN 3 0 DESIGN SELECTION The design of the vessel was approached by starting with the hull shape The criteria matrix below shows the initial designs considered and the criteria used to rank them This process resulted in the selection of four hull designs which were modeled in a tow tank at Dalhousie University The results of the testing will be discussed within the sections to follow A Work Breakdown Structure was also drafted in order to provide a general outline of all project components that would need to be considered This can be seen in Appendix C Work Breakdown Structure 3 1 Design Selection Ranking Table 1 Design Selection Ranking CRITERA Relative volume of hull shape D Sublofhulshpe DESGN A B C D E F G M TOTAL Due to its low score it was determined that the spider shaped hull which is a series of hulls connected by radial arms was not feasible and the idea was disregarded Upon further consultation with the client and faculty advisor Dr Kujath it was decided that the SWATH Small Water Plane Area Twin Hull was far too complex and should also be disregarded The displacement large catamaran short catamaran and tubular hull designs were selected for further investigation These four designs are outlined in greater detail below TUBULAR HULL The tubular hull see Figure 2 design was chosen because of t
43. ect mounting location and cut opening Select a mounting location which is protected from water on the panel front and back and is not in an area where flammable vapors from propane gasoline or lead acid batteries accumulate The circuit breakers used in marine electrical panels are not ignition protected and may ignite such vapors Using the panel template provided make a cut out in the mounting surface where the distribution panel is to be mounted Do not yet fasten the panel to the mounting surface 4 Install positive feed wire and negative return Determine the positive feed red and negative return black or yellow wire size by calculating the total amperage of the circuits that will be routed through the panel Blue Sea Systems electrical panels are rated at 100 amp total capacity The positive feed wire must be sized for 396 voltage drop at the 100 amp panel rating or the maximum amperage that will be routed through the panel in any particular installation whichever is less It is recommended that the positive feed wire be sized for the full panel capacity which in most cases will require at least 2 AWG wire assuming a 10 foot wire run between the panel and the batteries in 12 volt systems Refer to the Wire Sizing Chart for other situations Remember that the length of the circuit is the total of the positive wire from the power source and the negative wire back to the DC Negative Bus Be certain that there is a fuse or circuit
44. el draft locate the center of buoyancy Figure 9 Hole Insertion gross operating weight of 575 lbs was selected corresponding to a draft of 7 Using a Maple computer program written by Triton Robotics see Appendix D the center of buoyancy was located to be 24 5 8 forward of the stern A 10 diameter hole was cut though the inner and outer hulls for the installation of the camera enclosure See Figure 9 To properly position the two trolling motors that are the propulsion system used for the vessel 12 aluminum 2 diameter bolts were permanently welded to the hull The 12 aluminum bolts were welded to a sub frame assembly that is enclosed by the bow and stern permanent covets See Figure 10 P T un Please refer to Appendix D for detailed Hull Propulsion Calculations for this vessel Figure 10 Motor Mounting Bolts 13 4 2 HYDROPHONE ARRAY The array is a frame design consisting of 1 x 1 x 1 8 aluminum angle Aluminum was chosen because it is inexpensive relative to other rigid marine application materials and to remain consistent with the rest of the vessels construction Using aluminum for the construction of the hydrophone array acts as a safeguard against galvanic circuit formation between the hull and the array The hydrophone array protrudes 1 89m below the waterline Four Dolphinear hydrophones will be mounted onto plates welded o
45. es used to build 3 D models of what it sees e team at Dalhousie University is currently developing a vessel to be used for tracking the position of the underwater robot using a series of sensors 1 2 PROJECT OBJECTIVES Triton Robotics will deliver to the client a working prototype that meets the requirements as stated in section 2 0 Design Requirements final objectives of the project are e Delivering a working prototype capable of remote manual remote control by April 2005 e Delivering documentation that describes the design and construction of the robotic vessel e Delivering procedures for the purposes of standard operation and maintenance The completed robotic vessel will be delivered to the Project AQUA group Upon delivery the members of Project AQUA plan to use this vessel as a prototype They will then perform tests to determine the effectiveness of the robotic tracking system The AQUA group also plans to improve upon the robotic vessel pending the availability of funding 2 0 DESIGN REQUIREMENTS The essential requirements for this project are outlined below e Dimensions of the vessel will not exceed 72 long 48 wide or 38 high to enable transport of the vessel in the rear of a minivan e The weight of the vessel in air not including batteries and hydrophones will not exceed 200 lbs e The vessel will be capable of operating and maneuvering at a roll angle of 18 9 without degradation e At
46. eters based model Longitudinal 72 model 18 Beam 42 model 10 12 Vertical Depth model 6 Bow Radius 25 model 6 4 Assumptions Estimated 700lbs Payload Usage for Fresh Water Calculations Treat Hull as a Solid Block Archimedes Principle 1 A 5 V _ _ 4 368 tonn 700lbs 0 35tonnes 2000 Ibs B 22 tonnes 12 617 Volume to be displaced by hull 36 ft tonn 700 lbs at Full Ship Scale 10 9 Ibs at Model Scale Estimated Draft T 1s 12 6 ft3 6 ft x 3 5 ft x T T 0 6 ft or 7 2 inches Sample Calculation Effective Horse Power EHP Calculation for Tow Tank Testing Performed November wie 2004 Trial 1 For Displacement Hull Full Ship Dimensions Longitudinal 60 Beam 42 Depth 16 Correction Factor 0 004 No Hydrophone Array Attached Measured Data Trial Distance Time s Velocity Sm ft 16 ft ft s Linear Scale Ratio a 4 15 Model Wetted Surface varies as Inverse of Scale Ratio Squared 6 1 31 10 9375 8 S 4 1 31 20 96 Model R C UP 0 064926 M TRE NS NEUE NEED ee IU V 1 25 3 0178 1 25 am 353 866 043 Model Reynolds Number l 066x10 1 066x10 Cen 0 0059551 log Ram 2 log 353866 043 2 Cag Cpu 0 064926 0 0059551 0 05897265 Full Scale Ship V 3 V 6 04 ft s 04
47. f five sections of 5052 H32 0 081 thick aluminum sheet cut to the bow radius curvature of 25 These pieces were bent to add structural stability to the bow of the hull The flat 6 deep bow section was framed with four sections of 1 V2 x 1 V2 x 1 8 6061 T61 aluminum angle pieces A watertight floor arrangement was constructed by having pieces of aluminum sheet cut to fit on top of the floor longitudinal members See Drawing RV 100 05 Hull Floor Arrangement All welds holding the water tight floor were inspected for leaks and repaired as needed Inserted inside the water tight floor cavity will be expandable high density foam The cargo cover consists of a 1 2 x 1 1 2 x 1 8 6061 T61 aluminum angle framing arrangement that is covered by a piece of 5052 H32 0 081 thick aluminum sheet See Drawing RV 100 07 Hull Cover Arrangement 12 After the welding of the bottom side stern and inner floor panels to the framing arrangement it was necessary to cut opening for the installation of the camera enclosure See Drawing RV 301 01 Camera Arrangement It was a requirement of our client that the gyroscope be located at the center of oravity of the vessel and be in close proximity to the camera located inside the camera enclosure It was also desired that the vessel float at an even trim with the center of gravity at this location To do this we had to chose a gross operating weight and at the cotresponding even ke
48. ficient thrust for three people on board Forty five minutes of useable power seemed be very encouraging since the battery used was small Based on this test and some simple calculations it was determined that using four deep cycle marine batteries would be sufficient 23 5 2 INITIAL MODEL TESTING Location Sexton Campus Tow Tank Hydraulics Laboratory Room D14 Date October 29 2005 Requirements The purpose of this test was to obtain results that could be used to compare each of the potential hull designs The test was also meant to help determine the full scale thrust required in order of reach the desired full scale speed of 4 knots Apparatus e 1 Tow tank e 1 Towing sled equipped with sensors 4 1 scale hull models e 1 1 scale hydrophone array model Methods Four 1 4 scale models of the hull shapes being considered were built These models were constructed using blue insulation foam and wood 1 4 scale model of the hydrophone array was also built using steel The models were dragged through the water by the tow tank testing apparatus sled shown in figure 27 The trials were automated and designed to record the velocity and drag force The hydrophone array was attached to each model being tested This created a significant amount of drag far below the waterline causing the models to nose dive into the water Figure 27 Tow Tank Sled Results and Discussion Normally the automated tow tan
49. g a tether line Lower the motor shafts into the vertical position by pulling back on the Grip Glide lever and sliding the shafts forward while letting them rotate downwards WARNING Make sure that a battery terminals are equipped with their While using proper lifting procedures lower all 4 batteries into their positions and secure them using the bungee cords provided DO NOT remove the terminal covers Lower the frame containing the electrical equipment into the electrical box Ensure that the fan side of the computer 15 facing the open side of the box and that all electrical cords exit unrestricted through the back 10 6 3 Making the Electrical Connections Use extreme caution when working with the electrical connections Ensure that the breaker is in the off position before you begin There is the potential for high current flows in the circuit capable of delivering large amounts of energy Exposure to this energy could cause severe burns The electrical system operates on a 12 volt system This does not imply the system cannot injure you There are two circuits within the vessel the Motor Circuit and the Electronics Circuit Motor Circuit 1 Connect the Pos 1 wire from the positive bus bar to the positive terminal of battery 1 2 Connect the Pos 2 wire from the positive bus bar to the positive terminal of battery 2 3 Connect the Pos 3 wire from the positive bus bar to the positive term
50. gine may go to full throttle unexpectedly and cause an injury Idle The stick direction in which the engine or motor runs at the slowest speed usually the down position When adjusting the R C set always stop the engine If the engine suddenly goes to full throttle it may cause an injury Nicd Battery Charging Precautions A WARNING Always charge the nicd batteries before each flight If the battery goes dead during flight the plane may crash or fly away Charge the battery with the standard charger or fast field charger sold separately Overcharging may cause burns fire injury blindness etc due to overheating breakage electrolyte leakage etc Use the included dual Nicd battery charger 6 Do not short the nicd battery connector terminals Shorting the terminals will cause sparking and overheating and result in burns or fire Do not drop or apply strong shock to nicd battery The battery may short out and cause overheating or breakage and electrolyte leakage and result in burns or damage from chemical contents N Shock prohibited Storage and Disposal Precautions A WARNING Do not leave the R C set battery model airplane etc within the reach of small children Touching and operating the R C set or licking the battery may cause injury or damage due to chemical content Do not throw the nicd battery into a fire or heat the nicd battery Also do not disassemble
51. he inherently low turning radius associated with a circular shape This design proved to be quite adept at turning but also developed poor directional stability when placed in the tow tank Because of the hole through the center of the model the two planes provided opposition to movement through the water Figure 2 Tubular Hull SMALL CATAMARAN This model performed better than the tubular hull but failed to fully support the weight of the model hydrophone array the model moved forward the nose would tend to dive eventually bringing the top deck to the water and substantially increasing the drag The large catamaran see Figure 3 proved to be better at this Figure 3 Catamaran LARGE CATAMARAN The larger version of the catamaran see Figure 3 performed well in the trials supporting the hydrophone array and moved well through the water The extra floatation in the longer pontoons kept the nose up when moving forward The longer pontoons did however show a longer response time when turning due to the greater area in contact with the water plane DISPLACEMENT HULL Similar in design to a standard ship s hull this model see Figure 4 proved to move well through the water and outperformed the catamaran designs in turning ability This design also lends itself to the arrangement of the electrical equipment Figure 4 Displacement Aull PROPULSION DESIGNS From initial research it was determined that the selec
52. he rear A device was fabricated by the team to pull the models by hand through the tank with the application of force below the water This testing proved to be much more successful All of the models managed to keep their bows above water The results of this test showed that the long catamaran and the displacement hull supported the hydrophone array in an effective manner and provided the least resistance to motion through the water Secondary tow tank testing was performed on the models without the hydrophone array using a spring scale and stop watch Please refer to Appendix E Hull and Propulsion Calculations tor more information 3 3 SELECTED DESIGN Due to the complexity of the overall design it was decided that for the initial design selection all components be grouped into one of the following five major areas see Figure 6 which will be discussed in detail below e Hull Hydrophone array e Propulsion e Electrical equipment e Control System HULL It was determined that the conventional displacement hull design was best suited for the particular application of this project The wide mono hull design will provide a large payload capacity as well as good transverse and longitudinal stability One of the client requirements dictates that a camera should be installed such that it can gather images below the surface of the water under the vessel The flat bottom design of the hull will allow easy installation of a clear viewing po
53. ich the trailing edge of the elevator moves Throttle TH Dual Rate D R Part that controls the air mixture at the engine Reduces the servo travel by flipping a switch intake When opened throttle high position a large air mixture is sucked in and the engine Elevator ELV 3 x speed increases When closed throttle low Control surface that moves up and down on the position the engine speed decreases horizontal stabilizer of an aircraft It usually controls up and down Altitude Trim A device that fine adjusts the neutral point of each servo for safe flying It is a mechanism that corrects unbalanced tendencies of the aircraft Linkage Mechanism that connects the servos and the fuselage or wing control surfaces Modulation Method Up Two modulation methods are used with radio control AM Amplitude Modulation and FM Frequency Modulation Radio sets for aircraft mainly use FM Another method that encodes and transmits the modulated signals is called PCM Means up elevator It is the direction in which the trailing edge of the elevator moves Neutral Means the neutral position It is the state in which a transmitter stick returns to the center when not operated Normal NOR For the servo reversing function it is the normal side The opposite side is the reverse side Rudder RUD Tail control surface that controls the direction of the aircraft Reverse REV With the servo reversing function this refers t
54. inal of battery 3 4 Connect Neg 1 wire from the negative bus bar to the negative terminal of battery 1 5 Connect the Neg 2 wire from the negative bus bar to the negative terminal of battery 2 6 Connect the Neg 3 wire from the negative bus bar to the negative terminal of battery 3 Electronics Circuit This circuit is not yet functioning Tightly secure the top hatch to the vessel before beginning operation 7 0 Remote Control Operation The remote control unit for your robotic vessel 15 a complicated unit The remote controller shown in figure 4 operates both the variable control speed controllers and the directional controllers of the robotic vessel The robotic vessel has both a bow and stern motor that are able to operate independently for better steering and speed control As shown in figure 4 below the left controller stick operates the stern motor and the left stick operates the bow motor Independent thrust control is achieved by moving the stick in the vertical direction lowest being off and highest being maximum thrust for each 11 motor For your convenience the throttle control remains at the position you leave it steer your robotic vessel move the stick in the horizontal direction to the left or right This motion causes the appropriate motor to rotate right for clockwise left for counter clockwise until the stick is released The motors will not return to the neutral
55. ions of the control pedal Each foot pedal possesses throttle control left and right steering a constant momentary control switch and a momentaty button as shown below in Figure 20 18 Steering Left 4 ght Throttle Control Constant Momentary Button Actuation of these controls sends a signal from the internal circuitry to the primary motor controller circuit The primary functions necessary for remote vessel control are throttle control and steering Modifications Integrating the controls with the RC servo system was considered across two domains electrical and mechanical It was decided to take a mechanical approach due to the unknown electrical parameters within the primary motor controller circuitry To maintain constant control opposed to momentary the internal momentary selector button on the foot pedals were held in the depressed position using screws 19 Figure 21 Foot Pedal Circuitry Throttle intensity is adjusted by sliding the button along its track This was achieved remotely by connecting the slider to a simple linkage driven by a servo motor as shown in Figure 22 This allows a full range of throttle control from the remote transmitter controller Directional steering control is actuated by pressing on the left or right side of the steering pedal This in turn causes a plastic mechanism to slide either to the left or right The slider causes tabs to depress 2 button switches of an H
56. ipment 5052 H32 Aluminum Sheet Mill Finish 0 081 1 141 6 0 9271 3 01 Frame 5052 H32 Aluminum Sheet Mill Finish 0 081 1 141 6 0 9984 3 24 141 1 1 5 14 10 55 O OO Box for 1 44 Electrical 6 5052 H32 Aluminum Sheet Mill Finish ___ 0081 1 20 5 1 141 4 0 6497 2 11 Frame 2 32 8 5052 32 Aluminum Sheet Finish 0 081 20 5 225 1 141 2 7 3095 23 76 9 5052 32 Aluminum Sheet Mill Finish ___ 0081 14 20 5 1 141 2 4 5482 14 78 11 J J IJ 12 Gaskt J 13 RBRuberStps o 98J U O oO Frame for 5052 H32 Aluminum Sheet Mill Finish Camera 6061 T6 Aluminum Square Bar 05 4 0 294 4 0 392 1 08_ __ Motomaster Nautilus Deep Cycle Battery 103 Amp 8 9 __ ___ height Battery 5052 H32 Aluminum Sheet Mill Finish 0 081 13 35 1 141 8 0 8462 2 75 Mounts 5052 H32 Aluminum Sheet Mill Finish 0 081 1 69 1 141 8 0 4374 1 42 6061 T6 Aluminum Clip _______________ 8 Control System Bill of Materials Density Ibs ft Or Material Description Control Unit APPENDIX D HULL AND PROPULSION CALCULATIONS Sample Calculation Draft Monotype Displacement Hull Hull Param
57. k test yields values for the force velocity etc However due to the tendency for the models to nose dive the models were not able to move fast enough for data collection These tests did allow for comparative analysis based on qualitative results This made it possible to choose the appropriate model in a relative mannet 24 Figure Displacement Figure 28b Long Figure 280 Short Figure 28d Tubular Hull Hull Model Catamaran Model Catamaran Model Model It was found that of the four models Figures 28a b c and d the displacement hull far left was best suited to meet the design requirements 5 5 FINAL MODEL TESTING Location Sexton Campus Hydraulics Laboratory Room D14 Date November 10 and 119 2004 Requirements At this point in the design process it was necessary to know how much thrust was required to propel the full scale vessel maximum required speed of 4 knots Apparatus Figure 29 Displacement Hull Model Testing e 1 Towing stick e 1 Fishing line e 1 Spring scale readings in pounds e 1 Digital stopwatch Methods This test consisted of dragging the displacement hull model with hydrophone array figure 29 at a lower thrust point than during the initial model testing trials Using the stick and fishing line the model was dragged over a 5 meter distance Using the digital stopwatch and spring scale the elapsed time and force were then measured over this distance Res
58. king swimming robot AQUA The robotic vessel will carry a suite of sensors for the accurate positioning of the underwater robot and the vessel itself The members of Triton Robotics are six senior year mechanical engineering students at Dalhousie University in Halifax Nova Scotia under the direction of Dr Marek Kujath This project is scheduled for completion in April of 2005 1 1 PROJECT AQUA Figure 1 AQUA Underwater Robot AQUA is a joint project between McGill University York University and Dalhousie University The goal of this project is to explore the science technologies for the interpretation of underwater video footage the identification of underwater features the modeling of 3 D scenes using vision and acoustics vehicle control position estimation and mechanical design This project is funded by the Institute for Robotics and Intelligent Systems IRIS a Canadian National Center of Excellence Supplementary is also provided Sciences and Engineering Research Council NSERC Refer to Figure 1 AQUA Underwater Robot The AQUA Project as a whole is broken up into three parts e McGill University is responsible for developing the swimming robot and using pictures to allow the robot to determine its position orientation and directional velocity York University has been appointed the task of developing a trinocular stereo camera used to take pictur
59. l limits pie Servo travel can be adjusted independently AE in each direction LOW HIGH ELV D R AIL D R ELV AIL EOR M Trainer switch Controls the link between the instructor and student transmitters when using the trainer function The student transmitter can only be operated when this switch is being activated Transmitter T6YG Rear Panel Side Panel Trainer jack y Battery cover Charging jack Charging jack Charging jack used when charging the transmitter nicd battery 11 Trainer jack Connects the trainer cord when using the trainer function The trainer cord 15 sold separately See page 19 for the trainer function operation instructions Battery cover Use when replacing the battery Slide the cover downward while pressing the area marked PUSH A CAUTION S Do not charge Dry Batteries Charging dry batteries will cause overheating or breakage and electrolyte leakage and result in burns or damage by the chemical content Charging the Nicad Battery A WARNING S Never plug the special slow charger into an AC outlet other than the voltage specified shown on the charger If the charger is plugged into an AC outlet other than the specified voltage overheating sparking etc may cause burns fire etc Use the special slow charger or R C quick charger sold separately to charge the RIC nicad batteries Overcharging will cause burns fire inj
60. lt batteries should be used to power all electrical systems As the onboard computer system and hydrophone array data acquisition board require AC power an inverter and transformer will also be required The batteries will be the greatest portion of the payload weight They will be placed on the vessel in such a way that the load is evenly distributed and will aid in increasing overall vessel stability The camera used for locating the ROV when the hydrophone array is not in use will be mounted to the bottom of the vessel on a glass plate or window in order to provide an unobstructed underwater view A metal frame will be constructed to house the Crossbow Inertial Sensor at the center of gravity CG of the vessel This frame will allow the navigational system to be calibrated so the distance from the center of the Crossbow to the focal point of the camera is known Heat dissipation may be required for the compartments containing the computer tower inverter and transformer This will most likely be accomplished using a fan coil extra fans or a cooling block directly on the sources of heat After a thermodynamic analysis is performed to determine the amount of condensation to be expected a sufficient amount of absorbent material will be installed to ensure no water comes into contact with the electrical equipment CONTROL SYSTEM The control system will consist of a remote control unit that will transmit radio sionals to six servo mechanical motots
61. m Again always disconnect the negative cable first and reconnect it last even to the charger Batteries contain explosive hydrogen gas A spark of flame can cause the battery to explode with enough force to kill or seriously hurt you Wear protective clothing and eye protection while performing battery maintenance Motors Disconnect all sources of power to trolling motors before attempting any maintenance including removing propeller cages 14 Minn Kota PD 50 Trolling Motors are designed to be completely maintenance free for users Please consult the user manual that was supplied with the two motors 1f more information 15 required see Appendix Motor Mounts The motor mounting bolts should be kept lightly lubricated with an anti seize compound or good quality grease to prevent thread galling and possible seizure of the aluminum nuts Camera View port Make sure the hull of your robotic vessel 15 completely out of the water before attempting to remove the camera view port bolts Bolts may have become seized and difficult to remove over time If this occurs apply a commercially available lubricant to the bolt threads Use caution when removing the view port cover because there are gaskets that are delicate and must be treated with care When reassembling view port bolts be sure not to over tighten bolts because bolts are threading into aluminum threads that can be damaged Electrical System Other than batter
62. m the others A rigid frame ensures the location of the hydrophones remains constant relative to one another In order to isolate the hydrophones from acoustic noise the array should extend approximately 2 meters below the surface of the water Consisting of four hydrophones the array assumes a pyramid structure to maintain the required spacing between the sensors Refer to Figure 6 for a view of the proposed array model PROPULSION It was initially determined that an arrangement of 4 z drive motors positioned on the cotners of the vessel be used for the propulsion system After further investigation however it was decided that two z drive motors should be sufficient Z dtives are commonly used in dynamic positioning situations such as the one presented within the scope of this project The motor arrangement should provide maximum control and a zero degree turning radius In contrast to all other propulsion arrangements the 2 z drives can be turned to thrust in any given direction This translates into high maneuverability and efficient use of battery power The only drawback to these types of drives is the increase in system complexity ELECTRICAL EQUIPMENT It was decided that all electrical equipment should be stored on board in waterproof electrical enclosures All enclosures batteries and wiring should be mounted to a frame that can be easily removed from the vessel This will aid in the ease of overall maintenance and transportation 12 vo
63. m the vessel ensuring the terminal covers are in place Remove vessel from the water take care to ensure props are positioned above the water line to avoid damage on removal 10 Using a 5 lug wrench remove the nuts from the motor mounts and lift the motors from the vessel 11 Safely stow all equipment and ensure the top hatch 15 securely affixed to the vessel 9 0 Regularly maintaining your robotic vessel is best way to protect your investment Proper maintenance is essential to your safety and the safety of those in the operating vicinity of the vessel This section includes instructions for simple maintenance tasks such as battery handling and motor service Any maintenance issues that are not detailed in this section should be performed by a qualified technician Some of the most important safety precautions are outlined in this document However we cannot warn you of every conceivable hazard that can arise in performing maintenance Only you can decide whether or not you should perform a given task WARNING Failure to properly follow maintenance instructions and precautions can cause you to be seriously hurt or killed Important Safety Precautions Before you begin any maintenance make sure your robotic vessel is out of the water and in a suitable work area 13 Notes reduce the possibility of fire or explosion be careful when working around batteries Always use a
64. med over 40 of its length as measured from the stern The bow portion of the hull comprises the forward 20 of the hull length The bow shape is a simple 25 radius rising from the flat bottom to a flat prow which extends 6 down from the ounnels See Drawing RV 100 02 Hull Frame Dimensions The hull is flat sided with a square stern A flat deck covers the forward 20 and the aft 12 of the hull For watertight integrity all outer hull joints were must be fully welded The bottom framing arrangement is of 1 1 2 x 5 32 6061 T61 aluminum channel and 1 1 2 x 1 1 2 x 1 8 6061 T61 aluminum angle The channel was used on the two longitudinal bottom side seams the transverse bottom stern seam and transversely where the bow radius begins Two longitudinal angle frames are used for stiffening over the flat bottom section Stern transom framing is comprised of in addition to the 1 2 x 5 32 6061 T61 aluminum channel at the stern bottom seam five sections of 1 1 2 x 1 1 2 x 1 8 6061 T61 aluminum angle two vettical corner pieces at the stern side seams a cunnel piece and two vertical stiffeners Transverse framing was incorporated where the bow radius begins its rise from the flat bottom and 12 forward of the stern transom This is similar to the stern transom framing being comprised of in addition to the bottom channel 1 1 2 x 1 1 2 x 1 8 6061 T61 aluminum angle The bow framing consists o
65. n Manual Table of Figures Figure 1 Robotic Vessel External View 5 Pigure 2 Robotie Vessel Internal 5 or Dy 7 Remote a umn 12 Owner Identification Information OWNER ADDRESS STREET CITY PROVINCE POSTAL CODE DELIVERY DATE OWNERS SIGNATURE TRITON ROBOTICS SIGNATURE 1 0 Congratulations on Your New Robotic Vessel Congratulations Your selection of a Triton Robotics 2005 Robotic Vessel was a wise investment It will give you years of great remote boating pleasure One of the best ways to become familiar and enhance the enjoyment of your new robotic vessel is to read and continually refer back to this manual In this document you will learn how to operate your robotic vessels driving controls and special features After reading this manual be sure to keep this document with your vessel so you can refer to it at any time Maintaining your vessel according to the information provided in this manual will help to keep your remote boating trouble free while serving to preserve your investment 2 0 Safety Legend Your safety and the safety of others is very important Therefore operating this vessel safely 15 an important responsibility To help you make informed decisions about safety we have provided safe remote boating operating procedures in this manual The visual aids are to alert
66. n a tetrahedral truss outlining the shape of the hydrophone array The hydrophones have not yet been mounted onto the hydrophone array as it is under our clients scope of work This truss will consist of six 44 long members This truss is then suspended from the hull using four 50 long pieces of angle These pieces are clamped to the side of the hull utilizing four quick release clamps The array frame can be disassembled for ease of transport See Drawing RV 200 01 Array General Arrangement The tetrahedron shape of the hydrophone array consists of six 44 long 1 x 1 x 1 8 aluminum angle The arrangement of the individual members that assemble to create the hydrophone array can be seen in drawing RV 200 02 Array Exploded View The front centre cross member of the tetrahedron is permanently mounted to the top triangular section of the hydrophone array The hydrophone array mounts to four pieces of aluminum angle that are welded to the port and starboard sides of the hull These angles are notched for easy mounting of the four uprights of the hydrophone array via the quick release clamps 4 3 PROPULSION SYSTEM Triton Robotics uses two 50 Ib thrust 12 volt electric trolling motors model PD 50 for propulsion of the robotic vessel See Figure 11 These trolling motors come equipped with foot pedal controlled 360 electric steering They have variable speed control in the forward direction and produce a maxim
67. n part due to inexperience controlling the vessel The top speed of the vessel 15 expected to increase as the operator becomes more B 3 1 Trial experienced The speed EWithout Array IBWith Array N Velocity Knots 2 e o requirement had not been met Figure 36 Measured Velocities in 1 Round Testing 30 The vessel appeared to be much more stable than when it was tested without the added weight of the batteries motors etc The turning ability excellent the vessel had a zero turning radius Control of the vessel was effectively a 3 DOF operation Table 3 First Trial Results Comparison to Design Requirements Speed without Array Effectively 4 knots 2 61 knots No data Qualitative results Client satisfied turning Maneuverability m conttol It was later found that the batteries used were mostly discharged before testing began For this reason the group was optimistic that future tests with fully charged batteries would yield better speed results Final inspection was at this point satisfied Further testing was required to satisfy the agreed upon design requirements Operate at 18 roll angle Stability 5 8 SECOND MOTORIZED TRIAL Location Dalplex Pool 6260 South Street Date March 315 2005 Requirements The purpose of this testing session was to further satisfy th
68. nding branch circuit breaker Note This Blue Sea Systems electrical distribution panel is furnished with 15 amp AC DC circuit breakers This rating was selected to minimize the need for removing the panel s circuit breakers and reinstalling different size circuit breakers As shown in the Wire Sizing Chart included with these instructions even 16 AWG wire which is the minimum wire size recommended by ABYC has an allowable amperage greater then 20 amps Additionally it would be rare to have more than 15 amps of current flowing in any one circuit Therefore 15 amp circuit breakers will satisfy the vast majority of marine circuit protection situations The Purpose of a Panel There are five purposes of a marine electrical panel Power distribution Circuit wire protection Circuit ON OFF switching Metering of voltage and amperage In panels with meters Condition Indication circuit energized Related Products from Blue Sea Systems PanelBack Insulating Covers High Amperage Fuses and Circuit Breakers for positive feed wires High Amperage Battery Switches Terminal Blocks and Common Bus Connectors Sizing Chart Calculate the maximum sustained amperage of the circuit Measure the length of the circuit from the power source to the load and back Does the circuit run in an engine space or non engine space Calculate Famps Feet x amps Multiply circuit length by max current Base the wire on either the 3 or 10
69. nto consideration 1n future efforts to balance the vessel 5 6 LEAK TESTING THE PIPE Location Sexton Campus IC Engines Laboratory Date February 2005 Requirements Upon installation of the electrical enclosure for the stereo camera and inertial sensor pipe figure 34 it was Figure 34 Camera and i Inertial S Enel important to determine how well it was sealed The 28 porthole needed to be watertight to ensure the sensitive equipment would be safeguarded and to minimize the risk of the hull taking on water Apparatus Water Bucket Methods The enclosure was filled with water This simulated porthole failure for the inner hull while also testing the seal of the porthole itself Any leakage was being monitored around the weld seams of the pipe and outer flange as well as the gasket outer gasket area Results and Discussion A drip leak was detected along the pipe It was determined that this would only be an issue if the pipe remained filled on the order of days Therefore it is of little concern since a detected porthole leak will not go untreated for more than on hour 5 7 FIRST MOTORIZED TRIAL Location Dalplex Pool 6260 South Street Date March 169 2005 Requirements This test was performed to satisfy final inspection see figure 35 The design aspects being tested were Speed with the hydrophone array on e Speed with the hydrophone array off e Stability e Maneuverability
70. o the reverse side The opposite side of reverse is the normal side Rod A wire that connects the servos and the control surfaces 22 Repair Service for usa Before requesting repair read this instruction manual again and recheck your system Should the problem continue request repair service as follows Describe the problem in as much detail as possible and send it with a detailed packing list together with the parts that require service Symptom Including when the problem occurred System Transmitter Receiver Servos and model numbers Model Model name Model Numbers and Quantity Your Name Address and Telephone Number Futaba Digital Proportional R C System 1610 Interstate Dr Champaign IL 61822 217 398 0007 FUTABA CORPORATION Makuhari Techno Garden Bldg B6F 1 3 Nakase Mihama ku Chiba 261 8555 Japan Phone 043 296 5118 Facsimile 043 296 5124 223 BLUE SEA SYSTEMS Marine Electrical Products DC Power Distribution Panel PN 8023 PN 3023 PN 8025 PN 3025 PN 8264 PN 3264 PN 8375 PN 3375 PN 8376 PN 3376 8377 3377 Panel Specifications Material 0 125 5052 H32 Aluminum Alloy Chemical Treatment per Mil Spec C 5541C Primary Finish Final Panel Finish Graphite color 2 part textured Polyurethane Circuit Breakers 15 amp AC DC Magnetic 65V DC 277V AC Maximum Amperage Rating All components are sized for 100 Amps of continuous c
71. on Elevator Throttle and Rudder stick Control each function See page 14 for the transmitter operation instructions Aileron Elevator Throttle and Rudder trim Used to shift the neutral or idle position of the each servo As the throttle stick is moved up towards the high throttle position the throttle trim will have less effect Carrying handle Provides an easy means of transporting the transmitter Neck strap hook Only clip the neck strap to this hook when neck strap use 15 required Servo reversing switches Switches that reverse the direction of operation of the servos The lower position 15 the normal side and the upper position 1s the reverse side Channel display Operating direction display 1 CH1 9 Throttle CH3 9 Landing gear CH5 REV side 2 Elevator CH2 4 Rudder 6 Flap CH6 NOR side 10 Landing gear switch Controls the raising and lowering of retractable landing gear Not all models will use this function Flap knob Controls the flap servo CH6 CH 6 FLAP Dual Rate switch AIL D R ELV D R Dual Rate trimmers AIL ELV Used to set to reduce the servo travel by flipping each Dual Rate switch The travel reduction for the aileron and elevator may be set by each trimmer See page 18 for the aileron elevator dual rate function operation instructions Throttle ATV Trimer Low High Used to adjust throttle servo trave
72. one drink can reduce your ability to respond to changing conditions and your reaction time gets worse with every additional drink So don t drink and boat even if you are not the operator of the robotic vessel as your assistance may be required 5 0 Your Robotic Vessels Safety Features Your robotic vessel is equipped with many features that work together to protect the sensitive payload and any people in the surrounding area Some safety features do not require any action by the operator A strong aluminum framework forms a safety cage around the cargo payload area of the hull and serves to protect it contents Figure 3 Safety Features safety Features Shown safety Features Not Shown 1 Water tight inside floor 5 Propeller Guards 2 24 inch deep hull 6 Battery terminal bus bars 3 Curved Bow 7 Electronic Breaker 4 Crash resistant hull 8 Safety Kill Switch 9 Buoyant Foam For your own safety and the safety of all people in the near vicinity of the two rotating propellers keep the propeller cages on at all times It is only recommended that the propeller cages be removed to perform maintenance operations In these circumstances motors must not be connected to any potential power source and extreme caution must be used to perform the maintenance required WARNING Connection of Batteries to Bus Bar Terminals Extreme caution must be used in connecting batteries to the bus bar terminals There 15 an individual bus b
73. onsiderations people are to not use the vessel for personal transport Keep Swimmers Away from Operational Robotic Vessel Efforts have been made by Triton Robotics to ensure that swimmers in close contact with the robotic vessel will not be in danger However to avoid a potential dangerous situation swimmers are to be kept at a safe distance while the robotic vessel 15 under its own power Keep Children Away Children are safest when they are not in close proximity of the robotic vessel The acts of children are spontaneous and are impossible to account for therefore for their personal safety they should never be 1 close proximity of the robotic vessel Control Your Speed Excessive speed is a major factor in boating crashes and boating injuries Generally the higher the speeds the greater the risk but serious accidents can also occur at lower speeds A remote robotic vessel does not have an extreme top speed but it does accelerate quickly and can surprise the operator Never drive faster than is safe for the current conditions regardless of the maximum speed posted Keep Your Robotic Vessel in a Safe Condition Having a mechanical failure while the vessel 1s 1n operation in water can be extremely hazardous To reduce the possibility of such problems visually inspect the vessel before each use and perform all regular maintenance outlined 1 this manual Don t Drink and Boat Alcohol and driving do not mix under any circumstances Even
74. ost Hull Construction Cost Material Description Frame 6061 T6 Equal Leg Aluminum Angles 10 5 ft 54 67 Members 6061 T6 Channels 15 7 ft 21 97 6061 T6 1 8 x 4 Flatbar Hull Plating Misc supplies 875 00 1 167 42 Table 6 Hydrophone Array Cost Hydrophone Array Construction Cost Array Frame 55 56 542 64 35 Table 7 Electrical System Cost Electrical Equipment Box for Electrical C Frame 2 Rubber Stops 10 00 Frame for 6061 T6 Aluminum Square Bar 1 3 ft 1 08 Camera 5052 H34 Aluminum Sheet Mill Finish 0 28 ft 1 59 and Gyro pou 10 3199 6 Motomaster Nautilus Deep Batteries Cycle Battery 103 Amp Hr Capacity 4 479 96 Battery Mounts 6061 T6 Aluminum Angle 13 5 ft 15 67 6061 T6 Aluminum Clip 5500 Sub Total 662 54 99 38 761 92 Table 8 Propulsion System Cost Propulsion System Construction Cost Material Description Motors MinnKota 50 PD Trolling Motor 960 00 5052 H2 Aluminum Plate 140 ft 55 31 Miscellaneous Mounting Hardware 10 00 Sub Total 1 025 31 153 80 1 179 11 36 Table 9 Control System Cost em Control Miscellaneous Integration Components 8000 Table 10 Total Budget Triton Robotics Anticipated Total Budget Total
75. plete listing of individual labels Fasten the panel to the mounting surface using the panel mounting screws supplied with the panel Testing Reconnect the main positive cable to the battery terminals and turn the main switch on to supply power to the panel Turn on all branch circuits and test the voltage at the panel Compare this voltage to the battery terminal voltage to determine that the voltage drop is within 396 With all branch circuits still on test the voltage at one device on each circuit to determine that there is a 396 or 1096 drop as is appropriate BRANCH CIRCUIT CIO 2 TO DEVICE SATIN LED B POSITIVE OC IH FROM DEVICE N d GROUNDING LED TO DEVICE POINT di ssi POSITIVE 50 01 q DC BACKLIGHT 1 3 BOARD LED TO DEVICE TO DEVICE m 55 POSITIVE gt gt TO DEVICE a POSITIVE X Z ME FROM DEVICE NEGATIVE 1 0 2 0A FUSE POSITIVE POSITIVE FEED TO DC m GROUNDING rm m m m E E H E TO DC SYSTEM NEGATIVE NEGATIVE RETURN Wiring Diagram DC Power Distribution Panel PN 8023 PN 3023 shown for reference Optional Branch LED s This Panel is supplied with LED s pre installed in all optional branch positions For future expansion of the panels remove the positive leg of the LED from the negative busbar and connect it to the load side of the correspo
76. position not fully closed Rudder Operation When the rudder stick is moved to the right the rudder moves to the right and the nose moves to the right relative to the direction of flight When the rudder stick is moved to the left the rudder moves to the left and the nose moves to the left Left Stick m Rear View 14 INSTALLATION AND ADJUSTMENT This section describes the installation and adjustment of the receiver servos etc to the plane Connections Connection examples are shown below Connection Example To nicd battery or battery holder FlapServo Receiver CH6 Gear Servo CH5 Rudder Servo CH4 Charge Throttle Servo Plug Receiver switch Elevator Servo CH2 Aileron Servo CH1 Four servos are supplied as standard 15 A WARNING Connector Connection Insert the receiver servo and battery connectors fully and firmly If vibration etc causes a connector to work loose during flight the plane may crash Receiver Vibration proofing Waterproofing Vibration proof the receiver and battery by wrapping them in sponge rubber or some such material If the receiver may get wet waterproof them separately by placing them in plastic bags or balloons If the receiver is subjected to strong vibration and shock or gets wet it may operate erroneously and cause a crash Receiver Antenna Do not cut or bundle the receive
77. position spins snap rolls and other aerobatics that require a maximum deflection angle can be performed Maximum deflection angle 100 at trimmer position 0 50 o at trimmer position 10 10094 Aileron Elevator Elevator servo 1 Turn on the transmitter and receiver power 2 Switch the dual rate switch D R to the lower position 3 Set the stick to the maximum travel in either direction 4 Using the trimmer adjust the servo horn to the desired angle Adjust each channel AIL ELV by repeating steps 1 through 4 When not using the dual rate function set the AIL and ELV trimmers to 100 fully clockwise Non slip Adjustable Lever Head The length of the stick head can be adjusted 1 Unlock two heads A and B by turning them in the head head arrow directions 2 Adjust the stick to the most comfortable length and x x lock the heads by turning them in the opposite direction of the arrows 18 e oo otick Lever Spring Tension Adjustment The operating feel of the aileron elevator and rudder sticks can be individually adjusted by adjusting the stick spring tension 1 Remove the four transmitter rear case screws and carefully remove the rear case Elevator Mode 1 Elevator Mode 2 2 Adjust the spring tension by turning the screw of the channel you want to adjust clockwise to stiffen counter clockwise to soften 3 Close the rear case and tighten the four
78. r drach ha antenna with antenna Also do not bundle the antenna a rubber band etc e together with the servo lead wires Cutting or bundling the receiver antenna will lower the receiver sensitivity and shorten the flight range and cause a crash Use a rubber grommet etc at the point where the antenna exits the fuselage so that it will not Antenna installation For aircraft attach the fracture and break antenna to the top of the tail Servo Throw Operate each servo over its full stroke and adjust the linkages so that the pushrod does not bind or is not too loose Unreasonable force applied to the servo horn will adversely affect the servo and drain the battery quickly Servo Installation Install the servos to the servo mount etc using a rubber grommet Also install the servos so that the servo case does not directly touch the servo mount or other parts of the fuselage Rubber grommet a Servo Horn Screw Use the horn screw supplied with the servo If a long screw 15 used the interior of servo may be damaged Power Switch Installation When installing a receiver power switch to the fuselage cut a rectangular hole somewhat larger than the full stroke of the switch knob and install the switch so it moves smoothly from ON to OFF Always install the switch so it will not come into direct contact with engine oil dust etc Generally install the switch to the fuselage at the side oppo
79. rt to accommodate this requirement Large displacement hulls are optimally operated at low speeds which corresponds to the speed set in the design requirements This fundamental hull shape will be straightforward to construct and can be easily designed to allow center of gravity adjustment water contact cooling for electrical equipment and vertical adjustment of the propulsion hydrophone array systems The adjustability of the design is desirable because the client requires the vessel to be fully operational with and without the hydrophone array attached In comparison to the catamaran the displacement design will require less hull material resulting in a lighter vessel ELECTRICAL EQUIPMENT ENCLOSURE DISPLACEMENT FORM Based on a total weight of 400158 the displacement hull will be approximately 60 long have a beam of 42 and a total height of 24 The entire electrical HYDROPHONE ARRAY payload will be accommodated in the displacement hull 4X AZIMUTHAL PROPELLERS The hydrophone which will be discussed in the next section will be attached to the hull using a Figure 2 Displacement Hull with Hydrophone metal frame Array HYDROPHONE ARRAY It was decided that the hydrophone array should be constructed of a very light material such as carbon fiber or aluminum It should be constructed in such a way that each of the four hydrophones be located 1m center to center fro
80. rvais G TRITON ROBOTICS Michael Carter M NOT COMPLETE 13 October 04 s S September ____ Y no Entire Group L Jctober 213 6 20 21 22 25 26 27 28 29 1 2 3 4 5 8 9 10111112 15 16 17 18 19 22 23 24 25 26 17 29 30 1 1314 15 16 17 20 21 22 23 24 27 28 29 30 1 4 5 6 7 811112 13 14 15 18 19 ements Due _ sign Rec De Design Selection Due Build Proposal Final Presentation Build Proposal Due ort Due Rep 6 12 13 14 15 1314 15 16 17 20 21 22 23 24 27 28 29 30 1 2 3 4 5 8 9 1011 12 15 16 17 18 19 22 23 24 25 26 17 29 30 1 NI 4 5 6 7 8 11 12 13 14 15 18 19 20 2122 25 26 27 28 29 1 Aaron Caldwell 4 TRITON ROBOTICS Guillaume Gervais G 6 Jeramy Slaunwhite J Michael Carter M NOT COMET 14 January 05 REG GG January February Ma April Entire Group E 4 5 7 10 11 13 14 17 18 19 20 21 24 25 26 27 28 31 1 2 3 4 7 8 9 1011 14 15 16 17 18 21 22 23 24 25 28 1 2 3417 8 9 1011 14 15 16 17 1821 22 23 24 25 28 29 30 31 1 4 51617 8 Final Inspection Target Final Build Proposal Due Inspection Due Testing Modeling 5 2 5 RM E 2 1
81. s The hull was filled halfway well above the anticipated draft line with water using hose Red chalk was then rubbed along the seams to help detect any possible leaks figure 32 Figure 32 Leak Inspection Results and Discussion The test was successful There were no leaks detected It was then determined that the hull was ready for testing in the Dalplex pool 5 5 FIRST TRIP TO POOL Location Dalplex Pool 6260 South Street Date FEBRUARY 9TH 2005 Requirements The purpose of this test was to qualitatively determine 2 e The hull stability in the water how does it react in water how does it trim etc e Verify the watertight integrity of the exterior hull e How stable the hull was on water e To see how the hull trimmed fore or aft heavy and to further verify the hull s resistance to leaking Methods The hull was transported to the Dalplex and placed into the pool figures 33a and 33b It was then rocked in a variety of manners to determine the stability Weight was also added in different areas to see how it would react 3 o Figure 33a Hull Pool Test I Figure 330 Pool Test Results and Discussion It was found that the hull exterior was waterproof It was also very buoyant The hull could hold one person quite easily without increasing the draft significantly The trim however was unbalanced in that the bow draft was greater that that aft draft This would come i
82. screws Trainer Function The trainer function is a very effective way for training students To use it the special trainer cord FUTM4410 USA only sold separately is necessary The special trainer cord can be connected to SKYSPORT4 SKYSPORTO 7U series 80 series and PCM1024Z series transmitters A WARNING Never turn on the student transmitter power switch Turning on the power switch will cause interference and a crash Set the student and instructor transmitter functions and trims to the same settings For example if the direction of operation is reversed control will be lost and the plane will crash Both transmitters must have the modulation type that is FM type If the modulation type is different control is impossible Connection Connect the student and instructor transmitters with the trainer cord Trainer cord TC FM Sold separately Trainer jack Trainer jack Operating Instructions Instructor side Turn on the power switch and extend the antenna to its full length When the trainer switch 15 not activated the instructor has control When the trainer switch is activated control is transferred to the student Release the switch to retain control Student side Never turn on the power switch 19 REFERENCE Ratings Transmitter T6YG 2 sticks 6 channels FM transmitter Transmitting frequency 29 35 36 40 41 50 60 72 or 75 MHz Modulation method FM Frequency
83. site the muffler exhaust 16 Adjustments A CAUTION The operating direction neutral position and steering angle of each servo are adjustable The basic linkage and adjustments control layout and servo Rx and Nicad installation should conform to the fuselage design drawings and kit instruction manual Be sure that the center of gravity is at the prescribed position Adjustment Procedure Before making any adjustments set all the SERVO REVERSING switches on the front of the transmitter to the lower NOR position and set both Dual Rate trimmers AIL ELV to the maximum 10 point Set the switches and the trimmers with a small screwdriver etc Turn on the transmitter and receiver power switches and make the following adjustments 1 Check the direction of operation of each servo If a servo operates in the wrong direction switch its SERVO REVERSING switch The direction of operation can be changed without changing the linkage Pay special attention to the direction of the aileron See page 14 for a transmitter operation instruction 2 Check the aileron elevator and rudder Perpendicular neutral adjustment and left right up down throw Rod Check that when Tx trim levers are 1 center the linkage connection point is perpendicular to the servo In this position the control surfaces aileron elevator rudder etc must be neutral If the neutral position of the control surface has ch
84. sting The operative roll angle again was not measured The battery voltage was measured twice once before and once after testing Finally a small single lens camera was placed inside the electrical enclosure pipe to test the visibility 32 The voltage indicative to the battery capacity had increased over a testing period of approximately an hour and a half Due to a temporary steering failure of the bow mounted motor the speed trials presented here figure 38 are not representative of the full thrust capacity Results and Discussion The measured speed averaged 2 6 knots as shown in figure 38 without the array was This was higher than in the first motorized trial averaging 2 3 knots The top speed as defined in the design requirements is effectively 4 knots in calm water The client is satisfied with the current top speed despite failing to meet this design requirement Based on observation the client is satisfied with the stability of the vessel An interesting note is that the battery voltage had increased over the testing period 1 5 hours I This indicates that the electrical Trial GWithout Array IIWith Array 3 0 N N Velocity Knots 0 5 0 0 loading over this time period was practically insignificant to batteries Based on this it can be said that the batteries are more than able to meet the onboard energy requirements
85. t carried out properly or procedures where the probability of superficial injury or physical damage is high AUTI ON Procedures where the possibility of serious injury to the user is small but there is a danger AN of injury or physical damage if not carried out properly Symbol Q Prohibited Mandatory Precautions During Flight A WARNING Q Do not fly or turn On simultaneously on the same frequency Q Simultaneous flight on the same frequency Interference will cause a crash Use of the same frequency will cause interference even if the modulation method AM FM PCM is different Q Do not fly on rainy or windy days or at night Water will penetrate into the transmitter Tx and cause faulty Pe not fly operation or loss of control and cause a crash 4 Q Do not fly in the following places Near other R C flying fields within about 2 5miles 3km Near people on the ground or objects in the air Near homes schools hospitals or other places where there are a lot of people Near high tension lines high structures or communication facilities Radiowave interference and obstructions may cause a crash A crash caused by trouble in the R C set or the model itself may cause death or property damage Q Do not fly when you are tired sick or intoxicated Fatigue illness or intoxication will cause loss of concentration or normal judgment and result in operation errors and a crash
86. t of each servo In the following descriptions the transmitter is assumed to be in the operating state Aileron Operation When the aileron stick is moved to the right the right aileron is raised and the left aileron is lowered relative to the direction of flight and the plane turns to the right When the aileron stick is moved to the left the ailerons move in the opposite direction To level the plane the aileron stick must be moved in the opposite direction When the aileron stick 15 moved and held the plane will roll Right Stick RIGHT N NENNEN Rear View Elevator Operation When the elevator stick is pulled back the tail elevator is raised and the tail of the plane is forced down the air flow applied to the wings is changed the lifting force 1s increased and the plane climbs UP operation When the elevator stick is pushed forward the elevator is lowered the tail of the plane is forced up the air flow applied to the wings is changed the lifting force is decreased and the plane dives DOWN operation Left Stick Right Stick Rear View Throttle Operation When the throttle stick is pulled back low throttle the engine throttle lever arm moves to the SLOW low speed side When the throttle stick 15 pushed forward full throttle the throttle lever arm moves to the HIGH high speed side Left Stick Right Stick FULL Throttle carburetor fully opened LOW Throttle caburetor at idle
87. t the dealer 9 Name and Handling of Each Part Transmitter T6YG Front Panel Antenna Aerial Carrying handle Elevator Aileron Voltage indicator Dual Rate switch ELV AIL D R Landing gear 111111 1 0000 switch Ch 5 Channel 6 Elevator 7 5 ELS Aileron D R m Trainer switch TRAINER Throttle Mode 2 Rudder stick Elevator Mode 2 Aileron stick Elevator trim lever Throttle tim f fT WC Mode 2 lever Mode 2 MODULATION TECHNOLOGY Aileron trim lever SERVO REVERSER POWER Power switch Crystal Cover Rudder trim lever NOTE This graphic shows 0 strap Throttle ATV the default assignments for iia Mode 2 aircraft system as Servo reversing switches supplied by the factory d Power switch Turns the transmitter On or Off In the upper position the power is turned On Voltage indicator This is an expanded scale voltmeter It is not calibrated in volts When the needle deflects to the boundary between the silver and red zones recharge or replace the battery Do not operate the transmitter 1f the needle descends into the red area Antenna Aerial Never operate the transmitter without extending this antenna or you may create interference to other modelers This antenna 15 not intended to be removable Ailer
88. that should be used in our product indicates Hobbico is voluntarily participating in an industry program to collect and recycle these batteries at the end of their useful life when taken out of service in the United Q States or Canada The RBRC program provides a convenient alternative to placing used Ni Cd lt batteries into the trash or the municipal waste system which is illegal in some areas Please 9 call 1 800 822 8837 for information on Ni Cd battery recycling in your area Hobbico s involvement in this program is part of our commitment to preserving our environment and conserving our natural resources 2 gt e Other Precautions A CAUTION Do not get fuel oil etc on plastic parts The plastic may melt discolor become brittle and fail to function Always use Genuine Futaba transmitters receivers servos ESCs nicd batteries and other optional parts Futaba is not responsible for damage etc caused by the use of parts other than Genuine Futaba parts Use the parts described in the instruction manual and catalogs 8 BEFORE USE Set Contents After opening the carton first check 1f the following items are provided The set contents depend on the type of set and these are the standard Transmitter T6YG Receiver R127DF R147F Servo 53003 x4 Servo horns Receiver switch Extension cord Small screwdriver and others If the set contents are incomplete or if you have any questions please contac
89. tion were welded to the back wall of the hull to house the breaker system and bus bars The breakers and Figure 14 Electrical Frame 16 bus bars can however be removed from their frames by unscrewing a few small aluminum bolts NAUTILUS x AAUTILUS po Figure 15 Motor Circuit The electrical equipment circuit consists of one 12V 103 amp hr deep cycle marine battety a desktop computer the Layla hydrophone stereo equipment power inverter a grounding line and a 60 amp fuse to protect the equipment The grounding line 18 standard 6 gage wire and all other connecting wires are standard 8 gage Figure 16 60 Amp Fuse for Electrical Equipment Circuit Several holes were drilled in top of the hull and the cover of the port hole to accommodate watertight fittings for the passage of motor hydrophone and control leads These permanent connections through the hull allow components to be easily plugged in from the inside and outside of the hull without running wires through the cover each time This aids in keeping the hull water tight 17 Figure 18 Water Tight Connection Hull Interior 4 5 CONTROL SYSTEM The control system consists of the standard MinnKota trolling motors foot pedal controls integrated with a six channel FM radio control system The stock foot pedals are designed to rest on the deck of a sport fishing boat so that an angler can control the boat with foot manipulat
90. tion would hinge on two types of propulsion arrangements These two options included a fixed arrangement similar to the thrusters found on RO Vs and azimuthal motors termed Z Drive motors Z Drives able to rotate 360 about their vertical shaft while providing thrust in any direction The use of these motors in conjunction with one another provides a high level of maneuverability coupled with the ability to provide significant thrust Figure 5 Z Drive Motor www pte com in one direction This arrangement also provides an efficient use of power limiting the vessel s response time when given an input by the user Please refer to the image of a Z Drive motor presented in Figure 5 The arrangement of the four fixed thrusters 15 non traditional and is not commonly used in industry It offers a zero degree turning radius and a certain level of simplicity However it does not provide an equal level of thrust in forward and reverse and lacks maneuverability at high speeds The arrangement of the two transverse thrusters coupled with two fixed thrusters is a common commercial arrangement providing good maneuverability and a zero degree turning radius It does however require a more complex control system than the four fixed arrangement and also provides unequal thrust in forward and reverse Both arrangements using fixed thrusters provide an inefficient response to input from the user increasing the amount of time required to
91. turn the vessel The use of a rudder was also considered This practice is common on commercial vessels but does not lend itself to a tight turning radius As a zero degree turning radius is required for this project the use of a rudder was disregarded 3 2 MODEL TESTING The four main hull designs considered were constructed at a 1 4 scale and tested in a tow tank in order to gather comparative data describing drag resistance maneuverability and stability 4 scale model of the hydrophone array was also constructed and attached to each hull model during testing The results of the tests are output in the form of Effective Horse Power EHP This number gives the user an indication of how much horse power will be required to propel the full scale model A brief overview of the test results are as follows in Table 2 Table 2 Tow Tank Testing Results Good stability bow remained above surface Bow remained above surface pitched forward slightly Good stability bow remained above surface Bow nosedived No data This initial tow tank testing proved to be ineffective due to the nature of the mount used to tow the models through the tank Located at the top and center of the models this method of propulsion caused the nose of the models to dive into the water due to the heavy drag provided by the model hydrophone array A more practical arrangement for the propulsion involves the application of force from beneath the vessel at t
92. uch as gas engine rooms or battery compartments as the circuit breakers are not ignition proof main positive connection must be disconnected at the battery post to avoid the possibility of a short circuit during the installation of this distribution panel Guarantee Any Blue Sea Systems product with which a customer is not satisfied may be returned for a refund or replacement at any time Useful Reference Books Calder Nigel 1996 Boatowner s Mechanical and Electrical Manual 2nd edition Blue Ridge Summit PA TAB Books Inc Wing Charlie 1993 Boatowner s Illustrated Handbook of Wiring Blue Ridge Summit PA TAB Books Inc Blue Sea Systems Inc 425 Sequoia Drive Bellingham WA 98226 USA Phone 360 738 8230 Fax 360 734 4195 E mail conduct bluesea com www bluesea com Installation 1 Disconnect all AC and DC power Before starting disconnect the main positive cable from all batteries to eliminate the possibility of a short circuit while installing the distribution panel Also disconnect the AC shore power cord from the boat to eliminate the possibility of electrocution from AC wiring in the proximity of the DC distribution panel 2 Apply Voltage Label All panel components are sized for 12 or 24 Volt systems Use the labels provided to permanently identify the system voltage and its type DC as required by ABYC Apply the appropriate voltage label to the recessed area on the front of the panel 3 Sel
93. ults and Discussion The average velocity from these trials was 3 25 ft s The measured force averaged at 2 4 lbs These values were then scaled up 4 times full scale the results of which are presented in figures 30 and 31 23 100 00 yz13744 8 90 00 80 00 70 00 60 00 50 00 40 00 Total Resistance Ibf 30 00 20 00 10 00 0 00 T T T T T T 2 00 2 50 3 00 3 50 4 00 4 50 5 00 5 50 Speed knots Full Scale Total Resistance 107 Power Full Scale Total Resistance Ibf Figure 30 Resistance vs Speed of Full Scale Displacement Hull L 5 ft B 3 5 ft 1 40 1 20 EHP 0 80 0 60 0 40 0 20 2 00 2 50 3 00 3 50 4 00 4 50 5 00 5 50 Speed knots Full Scale EHP Power Full Scale EHP Figure 31 Effective Horsepower EHP vs Effective Speed for Full Scale Model Displacement Hull L 5 ft B 3 572 26 Based on figure 30 it was decided that the motors required a cumulative maximum thrust exceeding 55 5 4 Initial Hull Leak Test Location Sexton Campus Hydraulics Laboratory Room D14 Date February 49 2005 Requirements The purpose of this test was to determine whether the exterior hull would leak Apparatus e The hull e Water hose used to fill the boat e Spare hose and buckets used to empty the boat e Red chalk used to mark the seams Method
94. um thrust of 50 lb while drawing 42 amps The factory supplied variable speed control and steering control systems were modified so as to be able to be controlled via a remote control system A description of the control system may be found in Section 4 5 14 The trolling motors are mounted on the hull centerline one over the stern transom and one over the bow Two mounting brackets of 1 4 5052 H32 aluminum plate were fabricated and welded to the factory motor brackets See Figure 12 This enables the motors to be mounted dismounted from the vessel without any disassembly of the motor assembly as is necessary with the factory motor brackets f fr 15117 Figure 11 MinnKota Trolling Motor Figure 12 Motor Mounts 4 3 ELECTRICAL EQUIPMENT Triton Robotics chose aluminum as the material for all electrical frame construction The aluminum allows for lightweight strong support for the containment of all the electrical components There is one main electrical frame to hold the computer tower hydrophone array data acquisition board and power inverter This frame See Drawing RV 300 01 Electrical Enclosure 15 of welded aluminum construction overall dimensions 12 1 2 x 19 3 4 x 21 made with 1 2 x 1 2 aluminum angle which was fabricated from 0 081 thick 5052 H32 aluminum sheet The electrical components are attached to two flat aluminum plates located within the frame The frame is secured
95. urrent Voltage Rating Panels are rated for 12 or 24 volt DC distribution Configure your panel with the supplied voltage identification labels PN Inches Millimeters Overall Dimensions 8023 3023 5 1 4 x 7 1 2 133 4 x 190 5 8025 3025 5 1 4 x 3 3 4 133 4 x 95 3 8264 3264 14 3 4 x 7 1 2 374 7 x 190 5 8375 3375 14 3 4 x 4 1 2 374 7 x 114 3 8376 3376 5 1 4 x 11 1 4 133 4 x 285 8 8377 3377 10 1 2 x 7 1 2 266 7 x 190 5 Mounting Centers 8023 3023 4 7 16 x 6 11 16 112 7 x 169 9 8025 3025 4 7 16 x 2 15 16 112 7 x 74 6 8264 3264 13 29 32 6 11 16 353 2 x 169 9 83 5 3375 13 29 32 3 11 16 353 2 x 93 7 83 6 3376 4 7 16 x 10 7 16 112 7 x 256 1 8377 3377 9 11 16 x 6 11 16 246 1 x 169 9 Applicable Standards American Boat and Yacht Council ABYC Standards and Recommended Practices for Small Craft sections E 1 E 3 E 9 United States Coast Guard 33 CFR Sub Part 1 Electrical Systems Document 9467 Rev WARNING not possible within the scope of these instructions to fully acquaint the installer with all the knowledge of electrical systems that may be necessary to correctly install this product If the installer is not knowledgeable in electrical systems we recommend that an electrical professional be retained to make the installation lf either the panel front or back is to be exposed to water it must be protected with a waterproof shield The panels must not be installed in explosive environments s
96. ury or blindness due to overheating breakage electrolyte leakage etc A CAUTION When not using the nicad battery charger disconnect it from the AC outlet The transmitter and receiver nicad batteries can be charged simultaneously or independently 1 Connect the charger transmitter connector to the transmitter charging jack and the charger receiver connector to the receiver servo nicad battery 2 Connect the charger to an AC outlet 3 Check that the charging LED is lit 4 At the end of charging disconnect the charger from the AC outlet AC Outlet Charger TX Transmitter charging LED RX Receiver charging LED To transmitter charging jack Nicd battery system only Receiver nicd battery 12 Receiver R127DF R147F 7 Not Used CH7 6 Flap servo CH6 5 Gear servo CH5 4 Rudder servo CH4 3 Throttle servo CH3 2 Elevator servo CH2 1 Aileron servo CH1 B Battery Connector Antenna TA al 4_ ER A Crystal Crystal The crystal is installed at the side of the receiver Servo S3003 Servo wheel Mounting flange To receiver Accessories The following items are supplied with the set Spare servo horns Use to match the application Servo mounting parts Rubber grommets etc 13 Transmitter Operation and Movement of Each Servo Before making any adjustments learn the operation of the transmitter and the movemen
97. ward DO NOT fully lower the shaft into the vertical position so that the propeller is resting on the floor This step 15 simply to ensure the rear motor shaft can be moved out of the way when the front motor is being installed Connect the positive motor lead labeled Lead Pos to the wire connected to the top of the hull labeled Motor Pos Wrap the connection with electrical tape so that no metal 1s exposed Connect the negative motor lead labeled Lead Neg to the wire connected to the top of the hull labeled Motor Neg Wrap the connection with electrical tape so that no metal is exposed Plug the 7 pin male connector from the motor into the 7 pin female connector attached to the top of the hull Connect the 9 pin female wire from the control box labeled Rear Control F to the 9 pin male connector mounted through the hull near the rear of the vessel labeled Rear Control M Front Motor 1 2 3 Ensure motor shaft 1s in the locked horizontal position Place the trolling motor so that the 6 mounting bolts attached to the hull slide into the holes drilled into the mounting plate attached to the motor Install flat and lock washers and tighten nuts to the mounting bolts using 19 mm lug wrench Connect the positive motor lead labeled Lead Pos to the wire connected to the top of the hull labeled Motor Pos Wrap the connection with electrical tape so that no met
98. y maintenance no special maintenance 15 required for the 12 V electrical system Hull The hull of your robotic vessel should be completely water tight and mainly maintenance free If any water 1s found to be leaking inside the hull consult a certified aluminum welder 10 0 Technical Information Hull Overall Dimensions Length Overall 60 inches Beam 42 inches Moulded Depth 24 inches Total Hull Weight Including Cover 160 Ibs Operating Displacement 575 Ibs 15 Operating Draft at 575 Ibs Displacement Hull Deck Floor and Cover Plating Framing Members Motor Mounting Bolts Viewing Port Outer Flange Bolts 7 3 inches 5052 H32 0 081 inch thick aluminum sheet 1 1 1 8 6061 T6 aluminum angle and 1 5 32 6061 T6 aluminum channel 1 2 13 x2 2024 T4 aluminum bolt 1 2 20 1 Grade 5 SS bolt Array Overall Dimensions Assembled Height 81 inches Assembled Length 40 inches Assembled Width 45 inches Framing Members x 1 x 1 8 6061 T6 aluminum angle Connector Bolts l4 20 x 3 4 2024 T4 aluminum bolt Motors 2 x Minn Kota Model PD 50 Maximum Amp Draw 42 Operating Voltage 12 volts Variable Speed Control Forward only Prop Weedless Wedge 2 Shaft 54 inches long Rated Thrust 50 Ibs Forward Motor serial WWAF0013578 Aft Motor serial WWAF0013580 Batteries 4 x Motomaster Nautilus Product 10 3199 6 Marine Cranking Amps 750 A Reserve Capacity Amp Hour 205 min 115 A

Download Pdf Manuals

Related Search

Related Contents

Eppendorf Xplorer®/ Eppendorf Xplorer® plus  Yamaha YWA-10  Sun LSI 106x RAID User`s Guide  GUIA DEL USUARIO: SERVICIOS DE  User Manual Netti I Allround    Sony SAL-24F20Z Operating Instructions  Navigation GPS  Verwendung des Acrobat HD  D3-CG Live User Guide  

Copyright © All rights reserved. Failed to retrieve file