Interim Review #2 RAV Team Matthew Allgeier Kevin DiFalco Daniel Hunt Derrick Maestas Steve Nauman...
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Transcript of Interim Review #2 RAV Team Matthew Allgeier Kevin DiFalco Daniel Hunt Derrick Maestas Steve Nauman...
Interim Review #2Interim Review #2
RAV TeamRAV Team
Matthew AllgeierMatthew AllgeierKevin DiFalcoKevin DiFalcoDaniel HuntDaniel Hunt
Derrick MaestasDerrick MaestasSteve NaumanSteve Nauman
Jaclyn PoonJaclyn PoonAaron ShileikisAaron Shileikis
IntroductionIntroduction
RFA’sRFA’s SubsystemsSubsystems
Design SummaryDesign Summary Current IssuesCurrent Issues
Schedule StatusSchedule Status Critical PathCritical Path
Budget StatusBudget Status
Requests for Action (RFA’s)Requests for Action (RFA’s)
Check Finish Specification on Control Check Finish Specification on Control Surface Dynamic Sealing SurfaceSurface Dynamic Sealing Surface
Design Summary – Design Summary – MechanicalMechanical
Hydrodynamic RFAHydrodynamic RFA
Check Finish Spec on Seal Surface for Check Finish Spec on Seal Surface for Control Surface SealsControl Surface Seals Optimal rod surface finish < 8Optimal rod surface finish < 8in (0.2 in (0.2
microns)microns) Type 303 Precision Stainless Steel shafts Type 303 Precision Stainless Steel shafts
have a finish of 10 micronshave a finish of 10 microns Sales Engineers at Eclipse engineering Sales Engineers at Eclipse engineering
confirmed that this finish would be confirmed that this finish would be adequate for low speed intermittent useadequate for low speed intermittent use
Hydrodynamics – SummaryHydrodynamics – Summary
Required Airfoil TorqueRequired Airfoil Torque Change in Req. deflection speed (servo Change in Req. deflection speed (servo
spec)spec) New Torque: 125 oz-in w/out misc. lossesNew Torque: 125 oz-in w/out misc. losses
New Airtronics 94358Z ServoNew Airtronics 94358Z Servo 200 oz-in (High-Torque)200 oz-in (High-Torque) 1.54 x 0.79 x 1.47 (small – space 1.54 x 0.79 x 1.47 (small – space
constraint)constraint)
Hydrodynamics – IssuesHydrodynamics – Issues
Custom Servo CouplerCustom Servo Coupler Unable to locate small size couplerUnable to locate small size coupler Misfit Shaft to Coupler via HeatMisfit Shaft to Coupler via Heat
ServoServo Problem: Can not rotate 180º for LSM Problem: Can not rotate 180º for LSM
TestTest Solution: Remove Airfoil during Solution: Remove Airfoil during
Subsystems TestSubsystems Test
Buoyancy – Design Buoyancy – Design SummarySummary
Machined PartsMachined Parts 90% Complete90% Complete
Still to MachineStill to Machine CylinderCylinder
Parts to AcquireParts to Acquire BatteriesBatteries
4 DuraTrax Receiver NiCd 4 DuraTrax Receiver NiCd Flat Pack 6 Volt Flat Pack 6 Volt
2200mAh (600mAh required 2200mAh (600mAh required per motor) per motor)
Length x Width x Height: Length x Width x Height: 3-1/4“ x 1-3/4“ x 5/8"3-1/4“ x 1-3/4“ x 5/8"
Weight: 4.8 ozWeight: 4.8 oz
[BUOY 1] Buoyancy Piston Cylinder Assembly
Buoyancy – IssuesBuoyancy – Issues
Inner Cylinder SealingInner Cylinder Sealing Machine inner bore for Machine inner bore for
smooth sealable surfacesmooth sealable surface Lubricate o-rings to reduce Lubricate o-rings to reduce
frictionfriction Test design thoroughlyTest design thoroughly
[BUOY 2] Buoyancy Piston Cylinder and Piston Head
Data Acquisition – Data Acquisition – Summary/IssuesSummary/Issues
Design SummaryDesign Summary Extech mini anemometer - VelocityExtech mini anemometer - Velocity
Electronics tested and partially manufactured Electronics tested and partially manufactured Omega PX180 pressure transducer - DepthOmega PX180 pressure transducer - Depth
Electronics tested and partially manufacturedElectronics tested and partially manufactured Battery voltage monitor (2)Battery voltage monitor (2) 4 external channel HOBO data logger4 external channel HOBO data logger
Current IssuesCurrent Issues Integration timeIntegration time
Propulsion – Design Summary and Propulsion – Design Summary and IssuesIssues
Design SummaryDesign Summary1.1. Change in propeller Change in propeller
sizesize2.2. Change in motor Change in motor
mountmount3.3. Change in coupling Change in coupling
for Motor/shaft/propfor Motor/shaft/propIssuesIssues1.1. Need to check on all Need to check on all
orders made orders made recentlyrecently
[PROP 1] Old Motor Mount Configuration
[PROP 2] Tail cap on CNC milling machine
Propulsion – StatusPropulsion – StatusPART STARTED COMPLETED
Tail Piece Complete
Motor Mount 1 Complete
Motor Mount 2 Complete
Tail Cone Started 15-Mar
Shroud Not Started 26-Mar
Fins Not Started 26-Mar
PART STATUS ARRIVAL
Motor/Controller IN
Bearing IN
Rotary Seal IN
Shaft IN
Batteries Ordered 1 Week1 Week
Propeller Ordered 1 Week
Shroud – PVC IN
[PROP 3] Finished Tail on CNC Lathe
[PROP 4] Finished Tail and CNC Lathe Setup
Communications – SummaryCommunications – Summary
ComponentsComponents Tx - Futaba 8UAPSTx - Futaba 8UAPS Rx - Futaba FP-R148DO, PCM 1024Rx - Futaba FP-R148DO, PCM 1024
8-Channel, 72.330 MHz, 3.12 ft whip antenna, 0.75 W8-Channel, 72.330 MHz, 3.12 ft whip antenna, 0.75 W Using less channels than expected due to Switch CapabilitiesUsing less channels than expected due to Switch Capabilities
Coaxial Cable Coaxial Cable (new)(new) Trainer Cable Trainer Cable (new)(new) 1/8” diameter Fiberglass Antenna Mast1/8” diameter Fiberglass Antenna Mast
Testing ConfigurationsTesting Configurations Nominal ConfigurationNominal Configuration Propulsion Subsystems TestPropulsion Subsystems Test Buoyancy Subsystems Test (use Trainer Cable)Buoyancy Subsystems Test (use Trainer Cable)
Range Testing ResultsRange Testing Results Signal Loss at > 100 mSignal Loss at > 100 m
Communications – Testing Communications – Testing ConfigsConfigs
[COMM 1] Nominal Config
[COMM 2] Propulsion Test Config
[COMM 3] Buoyancy Test Config
Communications – IssuesCommunications – Issues
Problem #1: Receiver/Antenna LocationProblem #1: Receiver/Antenna Location Metallic Housing = EM wave interferenceMetallic Housing = EM wave interference Underwater = Loss ~300 dB/mUnderwater = Loss ~300 dB/m
Solutions:Solutions: Move Antenna outside of RAV via shielded Coaxial CableMove Antenna outside of RAV via shielded Coaxial Cable Match Coaxial Cable Impedance to both Receiver & Match Coaxial Cable Impedance to both Receiver &
AntennaAntenna
Problem #2: Comm during Buoy Subsystems TestProblem #2: Comm during Buoy Subsystems Test Depth > Antenna HeightDepth > Antenna Height
Solution:Solution: Cable (3m?) from Tx to Rx for Buoyancy Subsystems Cable (3m?) from Tx to Rx for Buoyancy Subsystems
TestTest Plan: Use commercial componentsPlan: Use commercial components
LSM – Issues and ProgressLSM – Issues and Progress
Issues - Model AssumptionsIssues - Model Assumptions Control surfacesControl surfaces
Assumes the CS to turn 90Assumes the CS to turn 90° to minimize drag° to minimize drag AntennaAntenna
Drag not included in modelDrag not included in model InertiaInertia
Ignored in modelIgnored in model ProgressProgress
Current design testing completeCurrent design testing complete New design testing in progressNew design testing in progress
LSM – Testing ResultsLSM – Testing Results Testing encountersTesting encounters
Results affected by Results affected by ambient water ambient water conditionsconditions
Mechanically sensitiveMechanically sensitive LatexLatex SolenoidSolenoid Wire connectionWire connection
Insufficient voltage to Insufficient voltage to solenoidssolenoids
Test resultsTest results Consistent with Consistent with
assumptionsassumptions Optimized parametersOptimized parameters
Frequency = 15 HzFrequency = 15 Hz Exit diameter = 0.40”Exit diameter = 0.40”
Exit Diameter & Frequency vs. Time
0
20
40
60
80
100
120
140
160
180
200
10 15 20 25 30
Frequency (Hz)T
ime (
s)
0.35" 0.40" 0.45" 0.50"
[LSM1] – Test results from 4” model sub at Clare Smalls Pool. Performed with 2 5EP soft-shift solenoids.
LSM – New DesignLSM – New Design New Design will not be New Design will not be
incorporated into the RAVincorporated into the RAV Motor/Flywheel/Piston Motor/Flywheel/Piston
systemsystem Eliminates mechanical Eliminates mechanical
discrepancies in solenoidsdiscrepancies in solenoids Provides absolute displacementProvides absolute displacement Adjustable frequencyAdjustable frequency
Testing in progressTesting in progress Possible insufficient motor Possible insufficient motor
torquetorque Results & PurposeResults & Purpose
Improves current designImproves current design Provides a foundation for future Provides a foundation for future
projectsprojects[LSM2] – Partial CAD of 2nd Design
Full Systems Testing – Design Full Systems Testing – Design Changes/IssuesChanges/Issues
Leak Test ChangeLeak Test Change COCO22 Test Discarded Test Discarded
Sublimation Rate too SlowSublimation Rate too Slow Mechanical Valve AddedMechanical Valve Added
Advantage: External Pressure GaugeAdvantage: External Pressure Gauge
Critical Path #1Critical Path #1 PrePre-Leak/Hyperbaric Test -Leak/Hyperbaric Test (*Bottleneck!!)(*Bottleneck!!)
Physical IntegrationPhysical Integration Mid-SectionMid-Section
Weld & Seal BulkheadsWeld & Seal Bulkheads Drill Mid-Section HolesDrill Mid-Section Holes Weld & Seal LSMWeld & Seal LSM Integrate & Seal Buoyancy (Piston-Cylinder & Hoses)Integrate & Seal Buoyancy (Piston-Cylinder & Hoses) Antenna & Pressure Transducer Static SealsAntenna & Pressure Transducer Static Seals Leak Test ValveLeak Test Valve
TailTail Weld & Seal BulkheadWeld & Seal Bulkhead Pressure Fit Control Surfaces Dynamic SealPressure Fit Control Surfaces Dynamic Seal
Mount Servo’s, Coupler & ShaftMount Servo’s, Coupler & Shaft Pressure Fit Propulsion Dynamic Seal Pressure Fit Propulsion Dynamic Seal
Mount ShaftMount Shaft Electrical IntegrationElectrical Integration
Data AcquisitionData Acquisition Pressure Transducer to HOBOPressure Transducer to HOBO
CommComm Tx to RxTx to Rx Rx to all subsystemsRx to all subsystems
Leak Test Leak Test (Friday, 19 March)(Friday, 19 March)
Critical Path #2Critical Path #2 Hyperbaric Test Hyperbaric Test (Friday, 26 March)(Friday, 26 March) PostPost-Hyperbaric Test-Hyperbaric Test
Physical IntegrationPhysical Integration Mid-SectionMid-Section
Antenna MastAntenna Mast Anemometer MountAnemometer Mount Payload TrayPayload Tray Electronics BoxElectronics Box Batteries & WiringBatteries & Wiring
TailTail Motor & Mounting HardwareMotor & Mounting Hardware PropellerPropeller Shroud & Mounting HardwareShroud & Mounting Hardware
Electrical IntegrationElectrical Integration Data AcqData Acq
Anemometer to HOBOAnemometer to HOBO Battery Voltage MonitorBattery Voltage Monitor
CommunicationsCommunications Rx to all subsystemsRx to all subsystems Tx ProgrammingTx Programming
Functional Subsystems TestsFunctional Subsystems Tests Pool TestingPool Testing
Miscellaneous Miscellaneous Comments/IssuesComments/Issues
Slightly Behind ScheduleSlightly Behind Schedule Death Week + Spring BreakDeath Week + Spring Break Avg. 15+ hrs/wk/student vs. scheduled 12 Avg. 15+ hrs/wk/student vs. scheduled 12
hrs/wkhrs/wk Outstanding ReceiptsOutstanding Receipts ACard Update to $6,500ACard Update to $6,500 Battery Cycling & ChargingBattery Cycling & Charging Total Machine Shop Hours: ~625 hrsTotal Machine Shop Hours: ~625 hrs
Manufacturing Hours Manufacturing Hours BreakdownBreakdown
Section Time (Hours) Actual @ 5 Weeks Actual @ 10 Weeks Actual @ 15 Weeks
Nose 30.0 0 10
Tail 86.0 110 240
Control Surfaces 41.0 40 50
Buoyancy 45.0 65 125
LSM 96.0 72 100
Electronics 30.0 48 60
Bulkheads 5.0 0 50
Integration 67.0 0 Unknown
TOTAL 400.0 335 635
Weeks 10 5 10 15
Students 7 7 7 7
Hours/Student/Week 12 10 10 ?
Total Hours Available 840.0 350 700
Margin (S.F. = ~2) -440.0
Updated ScheduleUpdated Schedule
Before Spring BreakBefore Spring Break
BuoyBrackets
BuoyBrackets
Buoy MotorStatic Testing
Buoy Cylind& Test Stand
Buoy - Caps& Cylinder
Buoy - EndCaps
Buoy -Cylinder
Buoy -Cylinder
Buoy -Payload Tray
ProcurementBuoy Tray
TailBore Out
Tail CAMDrawing
TailBore Inner
TailInner Details
TailCNC Outer
TailMisc. Holes
Nose
Tail Cap
Mid-SectionWelding
SolidworksUpdates
ControlSurfaces
ControlSurfaces
Bulkheads
Bulkheads
Bulkheads
Bulkheads
Bulkheads
BulkheadIntegration
Procurement
BuoyBrackets
Buoy &Ctrl Surfaces
Buoy &Ctrl Surfaces
BuoyBottom Tray
BuoyBottom Tray
Antenna
Comm Test& Integration
Coupler &Ant Design
Servo, Valve& Antenna Int
ProcurementOrganization
TailBore Inner
TailBore Inner
TailBore Inner
TailInner Details
TailCNC Outer
TailCNC Outer
Prop Bracket& Misc Parts
Prop - TailIntegration
Tail Cap
ProcurementWebpage
LSM Testing
LSM Manu
LSM Manu
LSM Manu& Testing
LSM Manu*New Testing
New LSMDesign
New LSMDesign
New LSMDesign
Couplers
LSM TestingProcurement
LSM Testing
LSM Manu
AnemometerCircuit
AnemometerCircuit
LSM Circuit
XducerCircuit
XducerCircuit
Data AcqIntegration
Wiring &HOBO Test
LSM TestingProcurement
Dan Steve Matt Aaron Kevin Jaclyn Derrick
19-23 Jan
26-30 Jan
2-6 Feb
9- 13 Feb
16-20 Feb
23-27 Feb
1-5 Mar
8-12 Mar
15-19 Mar
12-16 Jan
ControlSurfaces
After Spring BreakAfter Spring Break
BuoyFxnal Test
Buoy SubsysTesting
IntegratedBuoy Test
Test ResultsAnalysis
FinalPresentation
Final Report
Spring Break
Shroud &Batteries
Misc.
Misc.
Test ResultsAnalysis
FinalPresentation
Final Report
Spring Break
Misc.
ServoFxnal Test
Test ResultsAnalysis
FinalPresentation
Final Report
Spring Break
Hyper Test &Comm Int
IntegratedComm Test
IntegratedComm Test
Test ResultsAnalysis
FinalPresentation
Final Report
?
PropulsionIntegration
PropulsionFxnal Test
IntegratedProp Test
Test ResultsAnalysis
FinalPresentation
Final Report
Spring Break
LSMIntegration
LSMFxnal Test
IntegratedLSM Test
Test ResultsAnalysis
FinalPresentation
Final Report
Spring Break
Data AcqIntegration
ElectricalIntegration
IntegratedData
Test ResultsAnalysis
FinalPresentation
Final Report
?
Dan Steve Matt Aaron Kevin Jaclyn Derrick
29-2 Apr
5-9 Apr
12-16 Apr
19-23 Apr
26-30 Apr
3-7 May
22-26 Mar
IntegratedServo Test
Budget Summary - Interim Review #1
Item Planned Planned @ 10 weeks Difference Spent
Raw Materials $815.00 $500.00 $190.00 $410.60
Control Surfaces/Comm $640.00 $735.00 -$95.00 $155.00
Buoyancy $463.90 $377.83 $86.07 $329.88
Communication/CS $110.00 $260.00 -$150.00 $627.25
Data Acquisition $295.00 $290.00 $5.00 $290.00
Propulsion $1,475.00 $1,497.62 -$22.62 $1,200.44
LSM $930.00 $770.00 $160.00 $600.14
Miscellaneous $560.00 $535.00 $25.00 $173.28
Testing Facilities $250.00 $250.00 $0.00 $0.00
Parts Total $5,538.90 $5,315.45 $223.45 $3785.13
Shipping (5% Parts) $276.95 $276.95 Na $177.36
Grand Total $5,815.85 $5,592.40 $223.46 $3,962.49
Available $6,524.00
ASEN $4,000.00
EEF $1,000.00
UROP $1,524.00
Goal 90% $5,871.60
Margin (Grand Total - 90% Goal) $55.76 TOTAL EXTRA $531.60