1. UCSD Human Powered Submarine Team – Odin’S Rage
2009

2. Team History
1999 – 2000: “Subsonic” Set new world record speed of 3.47 knots
Unique non-propeller driven design. Utilized a “dolphin tail” motion

3. Project Management Team Plan Use Brand New Hull
Divide the project into parts and create responsible groups
Drive Train
Steering
Fin

4. Hull 5 layers of fiberglass Cured with “Sun-rez” UV cured resin
Acrylic windows
Additional 2 layers around belt for strength
Knee and Heel blisters to reduce volume

5. Drive Train Design
Using SolidWorks Cad Software helped us design for simple manufacturability.
Using a bike-chain drive, it moves a piston rod to translate rotational motion to lateral motion
3:1 Gear Ratio gives us the needed mechanical advantage

6. Drive Train Construction
99% of all materials used are either aluminum, stainless steel, or plastic for corrosion resistance.
By modifying store bought bicycle parts we kept fabrication simple.
The lightened aluminum boom is hollowed out to reduce weight but not sacrifice strength

7. Fin Design
Instead of adapting theoretical biometric fins (fish, dolphin, etc.), use a symmetric airfoil to calculate thrust
The boom sweeps 90° and the fin is free to rotate 90° relative to the boom, which provides great lift and little drag.
Combining high sweeps per minute with a large surface area wing of high aspect ratio gives the best theoretical performance.

8. Fin Construction
A CAD model from SolidWorks was machined using an automated milling machine (CNC technology)
Ensuring symmetry
Layered with Fiberglass
Fitted with sweep-limiting knuckle.

9. Steering Surfboard fins Morse Cables Simple actuation Strong materials
Epoxied Shaft
Wide range of motion
Large Surface area
Avoid Walls!

10. Controls Mounting all controls, mechanically, to a single handle
Removes electrical problems
Frees other hand as solid support base.
Hydraulic actuators have been replaced with Morse push-pull flexible cables for corrosion resistance and ease of operation and maintenance

11. Safety Features Quick release hatch - just pull!
No need for pilot restraint
Spare air in case the pilot’s main air supply fails
Clearly-marked safety features for support divers
Pop-up buoy attached to dead-man’s switch

12. Future Goals Perfect current systems
Minimize drag and maximize power output for faster speed
Computer controlled variable pitch adjustment

13. Lessons Learned Press-fits are not truly secure!
Gather Sponsors before academic year
Early training
K.I.S.S.

14. Sponsors
US Grants