1. MSD Project Team P08454 Underwater Thruster Design Anthony Squaire – Team Leader - Industrial and Systems Engineering Alan Mattice – Lead Engineer - Mechanical Engineer Cody Ture - Mechanical Engineer Brian Bullen – Mechanical Engineer Charles Trumble – Mechanical Engineer Aron Khan – Electrical Engineer Jeff Cowan – Electrical Engineer Andre McRucker – Computer Engineer

2. Project Background Derived from one of the most successful projects in RIT’s history: P06606 Project mission is to design an open source thruster that can be used and/or improved for future RIT MSD projects Customers: Dresser Rand Dr. Hensel and the RIT Mechanical Engineering Department Hydroacoustics The design needs to be competitive with the current thruster designs in use: Seabotix Tecnadyne Figure 1: ROV Design from MSD project P06606

3. High Level Customer Needs Thrust must be improved over the current Seabotix Thruster Power consumption must be better than the Tecnadyne Thruster Mounts as easy as the Tecnadyne Thruster Operational in 400 ft. (173 psi) of water Needs to work in temperatures from 38-75 F Modular, open source design Comply with federal, state, and local laws, including the policies and procedures of RIT

4. Current State of Design Completed three design reviews and met with the customers so that they could voice any lingering concerns Motor Supplier failed to meet supply demand for project Assembled two prototype thrusters Tested for verification (results given in Design Specs slide) Technical Paper and Project Poster complete EDGE layout planned and ready to be updated with all current documentation

5. System Architecture

6. Assembly Drawing Figure 4: Section view of P08454 thruster design (Note: Does not include rear section that will house the electronics) Figure 3: Front View of thruster Figure 2: Rear View of thruster

7. Exploded Assembly Animation

8. Rice Nozzle Rice Nozzle – Designed to increase thrust efficiency and reduce drag In above figure: Reduced drag Increased thrust Figure 6: Outer and inner flow of the Kort and Rice designs

9. Nozzle / Impeller Final Selection When compared to black impeller, far more thrust Impeller from Silverstone is better choice because it is more aggressive and efficient when compared to black impeller Figure 5: Impeller from Silverstone Nozzle Attachment Use specialty designed part called ducting brace. Impeller is placed in position to maximize the geometrical effects of the nozzle (the slope transition)

10. Motor Comparison

12. Testing Figure 7: Test Rig

13. Comparing to Current Designs Listed above are the most important metrics when comparing the three thruster designs. Cost (Dollars)Thrust (lbf) Power Consumptio n (watts) Open Source Design Feedback from the Motor P08454's Design600.00 1.5 (Forward), 1.2 (Reverse) 33.12Yes Seabotix1,000.004.8 (Forward), 4.4 (Reverse)80No Tecnadyne4,000.0012 (Forward), 4 (Reverse)50.4NoYes * Numbers not yet known but design intends to be comparable to both thrusters using different impeller designs Figure 8: Seabotix Thruster Figure 10: Tecnadyne Thruster Figure 9: P08454’s Thruster

14. Future of Design Place thrusters on Hydroacoustics ROV for testing and verify on ROV performance Minimize thrust to weight and thrust to power ratios Build RIT ROV and integrate P08454’s and P08456’s designs into vehicle Look at possible uses for software and electrical control for a land based vehicle Possibly look at Land/Sea hybrid vehicle Figure 12: Current Hydroacoustics ROV

15. Figure Sources Figure 1: Concept Model of P06606’s ROV: https://edge.rit.edu/content/P08454/public/Homehttps://edge.rit.edu/content/P08454/public/Home Figure 5: Silverstone Tek: http://www.silverstonetek.comhttp://www.silverstonetek.com Figure 6: Propeller Pages: http://www.propellerpages.com/?c=nozzles&f=How_Nozzles_Workhttp://www.propellerpages.com/?c=nozzles&f=How_Nozzles_Work Figure 8: Seabotix: http://www.seabotix.com/products/btd150.htmhttp://www.seabotix.com/products/btd150.htm Figure 10: Tecnadyne: http://www.tecnadyne.com/images/Model-260-2.jpghttp://www.tecnadyne.com/images/Model-260-2.jpg Figure 11: P06606: http://designserver.rit.edu/Archives/P06606/web- content/Images/large_photos/SponsorROV2.jpghttp://designserver.rit.edu/Archives/P06606/web- content/Images/large_photos/SponsorROV2.jpg Figure 12: Hydroacoustics: http://hydroacousticsinc.com/marine_technology.phphttp://hydroacousticsinc.com/marine_technology.php Information Sources Anaheim Automation: http://www.anaheimautomation.comhttp://www.anaheimautomation.com Seabotix Inc.: http://www.seabotix.com/products/btd150.htmhttp://www.seabotix.com/products/btd150.htm Tecnadyne: http://www.tecnadyne.com/Brochure/Model%20260%20Brochure.pdfhttp://www.tecnadyne.com/Brochure/Model%20260%20Brochure.pdf Huco Dynatork: http://www.huco.comhttp://www.huco.com ST Microelectronics: http://www.st.comhttp://www.st.com Microchip: http://www.microchip.comhttp://www.microchip.com Atmel Corporation: http://www.atmel.comhttp://www.atmel.com McMaster-Carr: http://www.mcmaster.com/http://www.mcmaster.com/