Phantom 6

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Phantom 6
Virginia Tech Human Powered Submarine

• Rising to the Challenge Below the Surface

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Design Goals

• Broad spectrum redesign of two person submarine
  (Phantom II)
• Electronic monitoring

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Hull
Typhoon vs. Orion Hull
Fiberglass-foam sandwich reinforced with carbon
fiber
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Controls

• Stabilizer-Control Surface Combination
• All controls routed to single joystick
• No need for 2 handed push-pull system for rudder
  and elevator
• Less pilot hand travel per unit deflection
• Control Authority- deflection to - stall angles
• Wide non body of revolution hull, inherently roll
  stable

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Propulsion

• Two pilot propeller driven system
• Tandem system connected to a summing differential

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Dive Safety

• Capable of being fully operated by either pilot
• Large hatches to simplify egressing
• Feet untethered to pedals
• Integrated tank-harness

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HUD and Data Acquisition

• Sensor Interface
• Accelerometer - Roll, Pitch, and Yaw
• Pressure Sensors - Speed and Depth
• RPM Sensor - Rotational velocity of propellers
• 7-Segment Display
• Displays depth and speed at all times
• LCD Display
• All sensor data
• Data logger for post-race diagnostics
• Coded in C and runs on a microcontroller
• Over 800 lines of code

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Testing

• Buoyancy Trim
• Static Safety and Control

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Expense Amount Use
Travel-Spring Break Testing 2,000 Gas, lodging, and other transportation costs to go to Florida. The purpose of this trip is to test the submarine prior to competition.
Competition 3,000 Fees, Gas, lodging, and other transportation costs to go to competition in Carderock, Maryland.
Fiberglass/Carbon Fiber Supplies 500 Badding, resin, hardener
Aluminum 1,500 Various Aluminum sheet, plate, rods, and tubes, etc.
Fasteners/Supplies 750 Various screws, couplings, bearings, nuts, washers, etc.
Propulsion 2,500 Gears, propeller, drive shafts, pedals
Cables 250 Push-pull cables
Computer/Electrical Equipment 1000 Microcontroller, Battery, Power Supply, Accelerometer, Displays, Data Logger, RPM sensors, and Otterboxes
Scuba Gear 1000 Various purchases and upgrades to SCUBA equipment
Safety Equipment 500 Ty-vec suits, respirator cartridges
Total 17,500 Phantom 6 budget
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Conclusion

• System Integration
• New concept
• Future - Phantom 7
• Autonomous Controls
• Advanced HUD