1. Swamp Thing 3 Human Powered Submarine University of Florida
International Submarine Races at
David Taylor Model Basin
Carderock, MD
June 27 - July 1, 2011

2. University of Florida 2011 Human Powered Submarine Team
Swamp Thing 3
University of Florida 2011 Human Powered Submarine Team
Swamp Thing I had a mechanical control system.
For Swamp Thing II we decided to design and implement an electronic control system.
The previous Swamp Thing II control system included:
-- Read components from slide, point to pictures
Dana Massaro – Captain
Don Wehagen – Lead Engineer
Andy Luce – Editor
Cory McFarlane
Alex Muñoz-Mendoza
Kenny Wilbur

3. Swamp Thing 3 Team Goals Automatic pitch control Automatic yaw control
Variable pitch propeller
Top speed greater than 4.7 knots (Swamp Thing 2)
Avoid galvanic and crevice corrosion
Have Fun!

4. Swamp Thing 3 Design Philosophy
Simplicity
Make our designs simple
Make our submarine easy to assembly and easy to operate
Automation
Electronic control system to minimize driver error
Automatic steering so driver could focus only on pedaling
Adaptation
Create simple solutions to whatever problems may occur
Be prepared for worst

5. Design and Fabrication
Hull
Drive train
Propulsion
Mechanical controls
Life Support
Safety
Electrical controls

6. Hull
Hull

7. Hull
Designed in Pro/ENGINEER for smallest cross section to reduce drag
6 lb density foam half-mold made on a 5 axis CNC mill
Mold used to lay fiberglass; two halves joined together
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

8. Hull Two hatches held in place with a spring-loaded latch and pin
Aluminum plates inside fiberglass layers in hull allow mounting harness and drive train to sub
Lined with low density foam to maintain neutral buoyancy
Equipped with exhaust valve
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

9. Design and Fabrication
Hull
Drive train
Propulsion
Mechanical controls
Life Support
Safety
Electrical controls

10. Propulsion Clark Y 3-blade propeller designed in SolidWorks
Propeller model was made in rapid prototyped
Fiberglass female mold made from model
Mold used to lay up carbon fiber
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

11. Drive Train
Drive train

12. Drive Train
Single speed bicycle chain-and-sprocket system with 5:1 gear ratio
Rapid prototype bevel gears
Chain tensioner to prevent chain slippage
Clip-in pedals for maximum power transfer
Hollow driveshaft to accommodate control rod for variable pitch
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

13. Electrical Controls
Electrical controls

14. Electrical Control Systems
Automatic pitch control
Pressure sensors in front and back of sub to calculate depth
Microprocessor controls four fins to control pitch and depth based on pressure sensor readings
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

15. Electrical Control Systems
Automatic yaw control
Webcam will follow rope lights at the bottom of the course
Image processing on a Gumstix Water board
Microprocessor controls two rudders to control yaw based on path-following algorithm
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

16. Electrical Control Systems
Variable pitch propeller
Microprocessor adjusts linear actuator to control angle of attack of propeller blades based on the sub’s speed to achieve maximum thrust at all times
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

17. Mechanical Controls
Mechanical controls

18. Mechanical Backup Control Systems
Mechanical pitch and yaw control
- Ropes mounted to PVC handle bars run the length of the sub and connect to the fins
- Pulling the ropes moves elevators and rudders
Fixed Pitch Propeller
- Allows for manual pitch adjustment after each race

19. Life Support
Life Support

20. Life Support 20 cu. ft. pony tank used as pilot’s primary air source
Secured underneath harness
Spare air attached to pilot as secondary air source

21. Safety
Safety

22. Safety Systems Harness to secure pilot to sub
Latches on hatch accessible from inside and outside of sub
Emergency buoy signals pilot in distress for Navy divers to rescue
Beacon allows sub to be seen from distances underwater
The human powered submarine competition is an in annual collegiate competition with over 25 international universities competing.
The purpose of the competition is to design and construct a single person wet submarine, meaning the hull is not pressurized or sealed and there is water inside. The pilot breathes from scuba equipment within the sub.
The propulsion system must be directly coupled to the human, in our sub by means of pedals and a drive train. No stored energy, from batteries or gas etc, can be used to propel the sub.
The control system for the sub can be mechanical, electrical, pneumatic or a combination of any of these.
This is the 3rd year UF has been involved in the sub competition.
This picture shows our first submarine, Swamp Thing I, and 2nd and current submarine, Swamp Thing II.
In 2007, Swamp Thing I placed 8th in its class. The competition was cancelled in 2008 so we will be using the same submarine, with modifications, for the 2009 competition.

23. UF Human Powered Submarine
QUESTIONS?
Does anyone have any questions?