Louise MLouise MccGowan Ken MillardGowan Ken Millard

Kevin Pearce Daniel RiceKevin Pearce Daniel Rice

A Dalhousie Design Project PresentationA Dalhousie Design Project PresentationGroup 6 03 December, 2004 Group 6 03 December, 2004

Joint-service Active Watch Joint-service Active Watch Surveillance SubmersibleSurveillance Submersible

IntroductionIntroduction

What is JAWSS?What is JAWSS?

What Does it Do?What Does it Do?

Main Purpose?Main Purpose?

Courtesy HMCS Iroquois

• Inexpensive Inexpensive ConstructionConstruction

• Ease of UseEase of Use• Practical ApplicationPractical Application

JAWSSJAWSS

Design Design RequirementsRequirements

SeaworthinessSeaworthiness1.1. WatertightWatertight

2.2. BuoyancyBuoyancy

3.3. RecoveryRecovery

Displacement (total) = Displacement (hull) + Displacement (h. thrusters) + Displacement (dome) + Displacement (cage) – 60% Displacement (v. thrusters)

0.01386 m3 ----------- 13.81 kg (FW) 14.2 kg (SW)

ManeuverabilityManeuverability

1.1. SpeedSpeed2.2. Degrees of freedom (DOF)Degrees of freedom (DOF)3.3. Controlled by 1 person, tetheredControlled by 1 person, tethered

Fd = Cd * ½(ρV2A)Cd (cylinder) = 1.5 Cd (circular strut) = 1.2

V = 1.03 m/s (@ 2 knots)

ρ = 1025.2 kg/m3

Initial Drag Estimates: 30 NInitial Drag Estimates: 30 N

PropellersPropellers

Initial propeller designs were Initial propeller designs were estimated using Gawn Data estimated using Gawn Data crossplots:crossplots:BAR = 4(Ad)/Πd2 = 0.0005/d2 = 0.2

Kt/J2 = T/(ρd2V2) = 2 P/d = 0.51

Kt= 0.005 J2 /d2 J = 0.13

n = V * (30.88)/dJ = 11 402 rpm

Friction to Power ratio tests will be undertaken on 3 and 4 blade props.

                          

P = 0.0255 m

d = 0.05 m

n = 11 500 rpm

Courtesy PBS.com : NOVA

Mission EffectivenessMission Effectiveness

1.1. View at 2ft distance View at 2ft distance

2.2. Video to controller Video to controller with sufficient with sufficient resolutionresolution

3.3. External DC powerExternal DC power

4.4. Launched from ship’s Launched from ship’s boatboat

Courtesy HMCS Iroquois

““The prelude to The prelude to action is the work of action is the work of

the Engine Room the Engine Room Department”Department”

Admiral Jellicoe, 1916

MovementMovement

• 2 Vertical and 2 2 Vertical and 2 Horizontal ThrustersHorizontal Thrusters

• 4 Degrees 4 Degrees

of Freedomof Freedom

• F=Cd*2*F=Cd*2**V^2*A*V^2*A• P=FVP=FV

• Tether = 20WTether = 20W

• Body = 13WBody = 13W

DRAGDRAG

• 12 Volt motors 12 Volt motors

• 1-4A1-4A

• Based on drag Based on drag testingtesting

MotorsMotors

Courtesy RadioShack.ca

Douglas AdamsDouglas Adams

““A common mistake that A common mistake that people make when trying people make when trying to design something to design something completely foolproof was completely foolproof was to underestimate the to underestimate the ingenuity of complete ingenuity of complete fools.”fools.”

Initial goals:Initial goals:• Return video to Return video to

surfacesurface• 3 Degrees of 3 Degrees of

FreedomFreedom• Controllable by 1 Controllable by 1

personperson

Control Systems: Control Systems: GoalsGoals

Brains of the operation Brains of the operation controls:controls:

• Motors x 4Motors x 4• Camera Servos x 2Camera Servos x 2• LightingLighting• SensorsSensors• Surface communicationsSurface communications

Control System: Control System: BrainsBrains

Del

phin

us M

arin

e

Control Box includes:Control Box includes:• Joystick control of Joystick control of

thrustersthrusters• Joystick control of Joystick control of

cameracamera• Switch control for Switch control for

lightslights• LCD display for sensor LCD display for sensor

datadata• Leak warning lightLeak warning light• Video OutputVideo Output

Control System: Control System: ControlsControls

HVWTech.com

Delphinus Marine

Onboard sensorsOnboard sensors include:include:

• Leak detectionLeak detection• Pressure (= depth)Pressure (= depth)• External TemperatureExternal Temperature• Internal TemperatureInternal Temperature

National Semiconductor

Honeywell

Control System: Control System: SensorsSensors

““For every action For every action there is an equal and there is an equal and opposite government opposite government program.”program.”

Bob WellsBob Wells

Chosen: 12V DC Power Chosen: 12V DC Power supplysupply

Weight of submersible Weight of submersible reducedreduced

Unlimited # of batteries Unlimited # of batteries Power could originate Power could originate

from power inverterfrom power inverter

JAWSS Power JAWSS Power SupplySupply

www..napaautoparts.ca

Components:Components:• 2 CAT-5, 18 Gauge 2 CAT-5, 18 Gauge

Power/GroundPower/Ground• Floats for neutral Floats for neutral

buoyancybuoyancy• Wires shielded / Wires shielded /

watertight to reduce watertight to reduce resistance lossesresistance losses

Disadvantages:Disadvantages: Increased dragIncreased drag Vertical loadVertical load

Tether Tether DesignDesign

• 11stst Test: Logitech webcam Test: Logitech webcam• 22ndnd Test: CCD Camera from security Test: CCD Camera from security

type cameratype camera

• Chosen: PC169XS CCD camera due to Chosen: PC169XS CCD camera due to its:its:

Low light visibility characteristicsLow light visibility characteristics Low WeightLow Weight Small size (1.5 sq in.)Small size (1.5 sq in.) Low current draw (110 mA )Low current draw (110 mA )

Camera Camera SelectionSelection

SuperCircuits.com

• Pan / Tilt using servo motors Pan / Tilt using servo motors (0.90x0.37x0.61in.; 5.4 grams)(0.90x0.37x0.61in.; 5.4 grams)

• Mounted on two platforms Mounted on two platforms looking out through domelooking out through dome

• Composite video sent back to Composite video sent back to controller via tethercontroller via tether

• Controls integrated into those Controls integrated into those

of the submersibleof the submersible

Camera Camera DesignDesign

RobotShop.ca

LightingLighting

• 2 banks of white LED’s 2 banks of white LED’s • Parallel to camera inside the domeParallel to camera inside the dome• Lights Pan and Tilt with CameraLights Pan and Tilt with Camera• Placed to eliminate Placed to eliminate

glareglare

• Chosen: LEDChosen: LED (0.3 Amps, watertight,(0.3 Amps, watertight,

12V DC, illuminates 22.5” 12V DC, illuminates 22.5”

Dia circle at 2 feet)Dia circle at 2 feet)

http://bosunsupplies.com/products

Global Plastics

Camera / Lighting Camera / Lighting DesignDesign

Issue: AberrationIssue: Aberration

Solution:Solution:• Camera lens Camera lens

perfectly centeredperfectly centered

• Placing lights parallel Placing lights parallel to camerato camera

The Way AheadThe Way Ahead

• ConstructionConstruction

• TestingTesting

• AssessmentAssessment

DRDC (Atlantic) Acoustic BargeDRDC (Atlantic) Acoustic Barge

Courtesy DRDC (Atlantic)

JAWSS Proud JAWSS Proud SupportersSupporters

 

Delphinus Marine TechnologiesDelphinus Marine TechnologiesAncaster, ON, CanadaAncaster, ON, Canada  

DRDC AtlanticDRDC Atlantic

DND: Fleet Maintenance DND: Fleet Maintenance Facility, Cape ScottFacility, Cape Scott

Digi-Key, USADigi-Key, USA

Alberta Alberta Printed Printed CircuitsCircuits

ConclusionConclusion

• SSituationituation• MMissionission• EExecutionxecution• SService and Supportervice and Support• CCommand and ommand and

SignalsSignals

QUESTIONS ?QUESTIONS ?

Thank-You!