1. June 2011 The University of Bath presents The Minerva and Seabomb Presented by will and Tom

2. June 2011 Introduction Bath University Racing Submarine Team - BURST 2 submarines: New propeller driven submarine ‘The Minerva’ Modified biomimetic submarine ‘Seabomb’.

3. June 2011 The Minerva 1 man, propeller driven Pilot in prone position, cyclic input, chain drive to prop shaft. Dive planes, rudder and elevator controlled manually via brake cables. Uses 3 composites

4. June 2011 Pilot Ergonomics Investigation into optimum human input reveals the prone cyclic position. Shoulder provide reaction to pedalling force Increase hull depth compared to previous design for race bike crank and pedals

5. June 2011 Expireometer – optimum rpm and exertion duration Ergo-meter provided accurate pilot power calculations underwater Drag testing on full size hull prototype revealed drag coefficient. Two values provide design speed – 6 knots. Design Speed

6. June 2011 Propeller Propeller designed using a software based on Lifting Line Theory. Inputs to the program: 6 knot design speed Velocity wake profile – Testing and CFD The propeller has a RP core to match CAD design Composite: Fiberglass and polyester resin was used for strength and waterproof of the propeller

7. June 2011 Hull Hull developed from composite investigations Conclusion: Cork 40% stiffer & 40% lighter and provides the buoyancy Environmentally friendly - UK aero and marine industry - Balsa doesn’t form and hardwood Doesn’t compress under water Cork Balsa PU Foam

8. June 2011 The SeaBomb The 2011 SeaBomb is BURST’s platform for Innovation. Trialing two new innovative systems; Hydraulic transmission, Autopilot system using; Multibeam Sonar, actuated control surfaces and on board processing

9. June 2011 The SeaBomb As a development of the 2007 SeaBomb: 1. Cyclic input 2. Heaving fin propulsion 3. As in Minerva a cork sandwich hull. 4. Modular transmission

10. June 2011 Heaving Fin Optimal fin design found through Scale Modelling and Lifting-line software Strouhal number (rate of shedding) based on tuna fin - Frequency 1-2hz Material – ABS Stiffness of a fish tail Durable AR is maximized to give optimal efficiency while keeping below the diameter of the hull

11. June 2011 Hydraulic Transmission Hydraulic transmission used to facilitate rotary to linear motion. Initial Design: Open loop water system. Issues: Excessive friction and stiction Solution: Closed loop hydraulic oil system Advantages: Extra lubrication High viscosity – less leakage

12. June 2011 Sonar Guided Autopilot Aim: Fully independent control to reduce pilot task loading. Achieved through: Multibeam Sonar P.C. controller Actuated fins Pressure sensor and Inclonometer

13. June 2011 Fins Aim: Investigate optimal AR’s & geometry. Result: Dolphin Pectoral fin. Reduction in induced drag from shedding vortices.

14. June 2011 Safety Buoy Flax (linen) and Polylatic acid – from corn starch Completely natural composite using no petro chemicals.

15. June 2011 Conclusion Have successfully translated the various theoretical ideas into tangible designs. Minerva is giving us boat to compete SeaBomb acts as our step for development.