by Harry Bohm and Vickie Jensenoa Build Your Own Underwater Robot and Other Wet Projects by Harry Bohm and Vickie Jensen IMustrations: Nola Johnston Published by Westcoast Words Vancouver, 8.C. Canada© 1997 by Harry Bohm and Vickie Jensen Allright reserved. No part of this publication may be reproduce, stored in a retrieval system, or tranemitted, in any form or by any means, electronic, mechanical, photocopying, recording, or ‘otherwise. without the prior written permission of the authors, excope by 3 reviewer, who may quote brief passages we rests ‘Sixth Printing 2002 r fee pra enero | challenging toys, and Canadian Cataloguing in Publication Data LE constructing them is not play. fo ee, (eee | inal cases, use common sen: Includes index. q work under experienced adult ISPNO-90B1010.0-6 Serio Sel SOAS Safe) umeroblze— Design and coneteuctlon— Juvenle iterature | Garngprctone este | Siren Dinan. ore and publisher assume no ws vure: | Jensen, Vickie, ! sor assure 1946 Johnston Nola Tike (estes sass wisosest087 622627 © cor-s10865 aMARINEIB ‘This amazing book introduces you to the excitement and the techrology of underwater ‘exploration. The stories, diagrams and history pull you into a world that is zeldom ‘thought about by adults or children But the real intrique of BUILD YOUR OWN UNDERWATER ROBOT ts the projecto— ‘the things you can actually do to discover the watery world for yourselt. Some projects are simple, some are more complex. But al of them come wrapped in stories that present a problem to be solved. All of them festure important: lessons about a particular kind of subsea craft. The eclentifc principles to be discovered and the ‘echnology available to sole the problems are so well woven into the book that: you hardly realize youve embarked on a journey of learing. While this book is writen for inquisitive otudente in upper elementary or middle schools, Ihave seen high school teens and even aduits intrigued by its contents, Part of the reason forthe interest | think, les Inthe three-fold emphasis of the book—sclence, ‘technology and real lif, a8 i happens underwater. If you were looking fora defrition oF “subsea engineering” that anyone can understand, this i Harry Bohm and Vickie Jensen have produced a unique resource for educating and ‘exciting young minds. This book is a source of inopiration to kindle the imagination of ‘our next-generation of underwater explorers. Dr.John 8. Bird, Director Underwater Research Lab Simon Fraser University CTT cy rt bE i CT bts rd crt bi EH era bis EL4 1 1 1 1 4 T raceracrts PP Pt Ptr ra M4 ~ CLUE Jobb pt pa I-b4-p4s-p4 et LLA-CL Las LLL LaLa0000000000000000H000000000000000000 lent's Partners in : i Hu ui i ae i af a e 33 A H se 33 af -- a a John Bied and the Underwater Research Lab of Simon Fraser University, as well aS We would lke to acknowledge the ascistance of the Vancowver Maritime Museum, Dr. Financial support from the Ministry of Employment and lnvestme ‘Lucas Bohm, Nels and Luke Powell ‘community in British Columbia. 2 i : ria TUT TTITP Teter Sash bth tt Lb bb Piper SEeEEeE ee ees CEEEEEr errr Ltt Lt} ct il i rt rH EECO RESTS OCP EECEEEEEEEEEEECECEE EEE ETH EEECEEECC EEE ECE Ee COCCCCOEEOEEE Terre LId-LLjoLit Ld Lis ti bie tld tl aw 5 i i i i g & + r t i r t ptrts f4-bEt 7 i 1 t tPreface .. Introduction and How to Use This Book. PARTI: A Brief History of Undersea Exploration Modern Underwater Vehicle nnn How Deep Can They Go?. ~ PART 2: Bull Your Own Diving Bell Bula Your Own Underwater Habicat. ula Your Own Underwater Glider Build Your Own ROY. PARTS: Designing Your Own Underwater Project What Werks, What Won Types of Tools and Their Uses, Useful facts . Index 7 ‘About the Authors, - How to Order Copies of the Book. pel p4 ps pie p20 sn p23 pas 1m pAB ps7 ior p-108 p18 pat pe so PMB pveUnite fish, whales or frogs, humans are not designed to ve In water. Yet we have an amazing ablity to survive and function underwater because of our invented ‘technology. ‘This book shows you how to use come of that-amazieg technology to construct ‘simple, inexpensive underwater projects. The diving bells, habitats, gliders and robotic vehicles are fun to make. But these projects are notust tay models~-they are actual working shallow water craft. The physical principles used to design and build them are the same as those required for full-size modern submarines and submersibes. Li I CTT +4 _ TPTITeT A 3 = toh +4—h +4 ‘You dort have to read this book from cover to cover Flip through it frst-and get a feel for what challenges are inside, You can build al of these projects on the kitchen ‘table or in the classroom, ‘There are three parts to this book + Part looks at some of the pioneering work and recent accomplishments in underwater exploration. There is algo an explanation of the four basic types of modem submersibles a8 wll as an ilustration showing depths reached by various types of divers and subsea craft, + Part2 details four chapters of buld-it-yourself submersible projects, cach with ‘Several variations. Generally, the first model in each chapter is the easiest and the last io the most complex. The mest basic ones use supplies you might already have ‘at home. Others require purchasing materials ara ecre skill and access to basic, ‘tools, 69 you might want: to ask someone who Is experienced to help out with the construction + Part is really a reference section that should answer some of your questions about how and why things work underwater. As wel there are practical tips for designing and building your own underwater projects, ‘Note: The names of ships and underwater craft or structures ar in italics. Words in bold type indicate the first use of significant terms that you wil ind defined in the accompanying text or listed in the indexTICTETICT » Pte ief History Of Undersea ion ABr ExploratA Brief History of Undersea Exploration In early times, moot people were frightened of the seas. They beloved the oceans were bottomless or flle wth horcble monsters or controled by capricious gads. But not everybody fet chat way. Infact, for more tha 2000 years a curious few have explored the ‘5088 and even worked underwater. Moot of these early explorers fare anonymcus and thee attempts undocumented, We do know that the ancient Greeks harvested valuable sea ‘sponges and dove for treasure. Records tall us that a far back a0 283 B.C Alexander the Great of Greece used a diving bel to descend underwater ducing the sige of Tyre. And the ‘extended breath-hold dling of Japanese sr Korean pearl vers, mostly wore, have been known for more than 1000 years, But it wasn't unt the 16005 that anyone Pegan to alelate how avers or machines might actuslly beable 0 function underwater fora prolonged time. ‘This brief history provides # camping of some ofthe more significant “rsts" inthe history of submarines, ding bel, habitats, ROVs, AUVs, scuba and saturation diving. While there a rot space to note all the ewentions ts portant to state that underwater exploration has taken place in counties ‘ll around the world. For oxample, back inthe 1600 and 1700, ‘submarines were being bul from Venezusla to Japan Eventhough we know 8 great deal more about the seas than people id 2000 years ago, underwater life stillremaine magical ana myoterious.n recent tires, the emphasis of underwater exploration has shifted from itary t0 scientific and busines appications. And wha of the inventions to come? Wal, some of ‘Shem maybe up £0 you! mid 12008 Englishman Roger Bacon made a ding ball device Sinan to that reportedly used contues eal by Alexander the 3 Great. 4620 Dutchman and court engineer Commas Yan Orebbel reporzedly took King James of England on board an experimental surmarine in the Thames Rer, England The wooden sub was covered with a greased leather stn and could remain submerged for several hours. Air mas supple through tubes to the surface and the craft was powered by twelve osrsien. The concept of a ubmarne neriqued iwentors from mae countries, but the lack of ‘ rorchuman power source was a major problem inte development. early 1700 Successful salvage dives by John Lethbrige were made 238 far down as 65 fect (20 meters) using @ wooden barre! equipped wth ening pore Lemeeince’s. yenuseipees A772 Thefrot German diving boat. wae apzrommately 33 ect long (10 meters) and bln the shape ofa fick Fer propulsion, crew members used ropes to pul tailback and focth Sails were used for surface travel 1776 American David Bushrell invented a one-man hand-powered submarine that was 712 feet long by 6 feet deop (25 meters by 2 ters). The vessel was cal Turtle because tea oak ul loked ike two ‘tortoise shells bound together by iron bands. During the American Revolution it allegedly attempted‘an attack on the British warship HMS Eagle which was in New York harbour, but te oub’s torpedo screw coud not penetrate the ship's heavy copper sheathing to plant 2 delayed: action explosive 1800 Robert Fulton bul the frst practical hhana-powered submarine France. Totsl cost forthe Nautilus w36 10,000 francs Ballast and buoyancy ‘techniques forthe 25-foot vessel were advanced and {estured compressed ar instead of hand pumps. To submerge, valves foaded the uN’ tanks; to ascend, compressed al forced the mater out ofthe ‘eanke, For depth controle had movable horzontal planes, much He the ding planes on modern submersibes.A yer ister, Nautilus successfully destroyed a lop in a submerged attack, but Fulton was unable to Interest ether France or Britain in his eas, Eventually he retursed 19 America to buld steamboats 1819 Augustus Siebe developed avery successful compressed air ving Sut and helmet known as the Seve eutt for air hose diving, A later American verslon wae called the Mark V eu. By the mi 1200s, ders were working underwater wearing hesty canvas diving suits with copper helmets 4839 Sir James Cark Rose set out inthe Erebus and the Terror to explore ze Antarcte Ocean. He made a four mie (Bt em) long sounding ne and succeeded in tsking the frst depth messurements of the deep sea 1863 The Arrercan Gil Nar saw the first successful submarine attack when the Confederate vesael Hi. Hunley sank the Housatonic. The submarine’ crow were led inte attack The Confederate forces inthe United States built some 15 ironclad, ‘tear-proplled David vessels, Nore mere meant to submerge but Instesd took in water ballast so they could run awash at the surface. Nevertheless, they were the frst veceele to euecesehly Use the tactic of submergence. 1863 The est compressed-air-drven ubmatine wae bil by Frenchman Simeon Borgeois and Charles-Marie Brun. The MO-foot (46 meters) longeurwas successfully ested to 20-foot (66 Imeter) depths. Compressed air also was used to expel water from Ite balaot tants, = method that ube still use taday, 1866 The irst automatic torpedo was invented by Englishman Robert Whitehead, Worting for the Austlah Navy, he perfected avtomatle controls which alowed the torpedo to malts a steady course at a set depth WHITEHEAD TORFEDO 1972.6 The four-year voyage of Englands HMS Challenger was one of the earlest systematic scientific exploration voyages of ‘the sea. The ship travelled tothe major oceans af the world sn brought back abundart information, messuremerts snd samiles of pants ard animal, 1878 __vish-American John Holland inented a steam-powered submarine, Holland | Afzer experimenting with seversl submarne designs, he cold the US. Navy its frst submarine which used an ectc motor for underwater propulsion ad gasoline engin for propulsion on the surface ard for recharging its batteries, Holland's design set the standard for Submarines in bth Wera War | and I except that diesel engines replaced gas ones USS. HOLLAND1879 Thebrtiant engineor and lator Reverend George W. Garrett designed a steam powered submarine called Resurgum, ‘that wae Britain's frst practical sub. Unfortunately It sank while Undertow. This early submarine was recently discovered and a project is underway to salvage it. Garett aloo demonstrated a belPcortained breathing apparatus in BGO and was able to stay underwater for over 20 minutes. “4882 The Nordenfelt featured torpedo held inan external tube. ito Swedish designer, Thorsten Nordevtlt, worked with Reverend Garrett on several nternstional eubrarin projects. 4898. American inventor Simon Lake made several contributions ‘to the development of the modern submarine, notably he freeflooding superotructure. As well he designed a series of submarines with wheelo, such a6 ‘he Argonout and Argonaut J 20 tie could crawl on the bottom, Lake felt submarines had potential for commercial purposes, savage, underwater mining, snd various aving DSpetations He alo worked on double hull systems and designed cling sit 1901 After being skeptical of the US. acceptance of ‘sdmarnes, Brian aurched ther HM Submarne No. Tn October, 1901. The perseape, a Brith evention was added to their vesse's. 1906 Aiter the turn ofthe century, every major European poner bul eet of susmarinea. Germany and France were the only Inajor naval poners that aid not adopt the Holland version. stead, French engineer €Equeiiey designed the German Navy's Ol-foct (88 meter) Unterseeboot called Ul. Tre Germans also successfully adapted the dese engine 1 the submarine With its feet of iboats, Germany demonstrated the efectvenese of submarines 8 3 deadly weapon. The Briish countered with the development of depth charges #8 well a hydrophones and small anti-submarine vessel, 4914-1945 During World Wars and I ar advances in undersea technology tcok place and submares became a major ‘treat to world navies. Underwater sound devices such a6 underwater telephones and sonar were developed for Human toRPEDo communications and for detection of enemy ships. Human torpedoes were used to bow up slips in harbors where sumarines cout 0. During World War I, Germary pinecred the submare snort! which aloned submarves to recharge their batteries while crsing at perscope depth. The devecprens greatly noreased the Underwater range of submarees. Rescue devices, such 28 the Igheweighe breathing apparatus calle the Moreen lg becare standard equpment for iemarne Crews case of emergency. 49308 The rst practical rubber swim fine, or fippere, became avaiable. Both Leonard da Vine! ard Benjamin Frankin had come Up with a similar design mach earlier but lacked proper material i 4934 Otie Barton designed 3 bathysphere chat could safely take scientists to previously inaccessible depths to gather oceanographic information. He and deep sea exploration pioneer Or. Wiliam Bebee descended to a epth of 3028 fee (1000 metero) off Bermuda, BATAYSPHERE1942 Jacques Cousteau and Emile Gagran perfected the Aqua Lung or SCUBA (Self-Contained Underwator Bresthing ‘Apparatus) breathieg regulator, enabling adver to have complete freedom to work and explore underwater. 1949 Otis Barton redesigned his orginal bathyephere and descended to 4500 feet (1500 meters) of California, 1953 Based on the German Type U Boat design, new ‘teardrop shaped hull was introduced in che USS Albacore was 0 successful in prowaing reat submerged Speeds that this shape wae utiized tn nearly sl subsequent sub ‘construction 4954 The applation of nuclear ‘energy to eubmarine propulsion was a most revolutionary development. The frst nuclear powered sub was ‘the USS Nautive ‘Although in many respects resembled an ordinary submarine ite submerged cruising epeed of more than 20 lots for an almost unlimited range made ita sigficant weapon 1954 French hers descended toa depth of two and a half ries (4 km) off che coast of Afica it a bathyscaphe. ike the bachysphere, a bachyscaphe i bull with a stel gabe to protect ‘scientists from the great pressures of the deep. Unike the bathyophere thao ita cwn propulsion and operates without a ether. 1960 The rot oubmarnes armed wth sol-propellant ballistic missles were bult by the US. Navy. Equipped with nuclear warheads, these Polaris missiles were capable of string targets about 2500 miles (4000 km) aistant. Soon Rete of such submarines with intercontinental balistic missles were part ofthe navies of the United States, the Sovet Union, Great Eitan sr France, 19608 During thio revolutionary poiad for subsea research, Uussble Remotely Operated Vehicle (ROV) sectmolagy was developed However, the subsea industry at ‘hat time was much more Interested in the concept cof man inthe ocean Technical developments allowed divers to challenge how ins in dept, duration and capsbity Much ofthis revolution in ‘the diving Industry was riven by the needs ofthe offshore petroleum Industry and the interest ofthe US. Navy By the 1970s the technology was sophisticated enough to allow s real capablity to work nthe ocean. 1960 Arecord-setting deep dive in the US. Navy bavhyscaphe Trieste was set by Jacques Piccard, son of Swiss engineer Auguste Piccard who designed and constructed the bathyscapte, and US. Navy leutenant Don Walsh. It tok the bo nearly five hours to descend to 36,800 feet (1,21 tn) to the bottom of the deepest place inthe ocean called the Challenger Deep inthe Mariana Trench4962 Captain Jacques Cousteau launched an ‘experiment in underwater lv designing three Conshel® habitate the Mediterranean and Red Seas where several men ved and worked for up toa month, 4963 The US. atomic submarine Thresher with 129 row members aboard was Inst uring deep diving test inthe Atlantic, Located onl afer the deep-alng bathyacaphe Treate I ‘wae brought to the scene, the Lnlted Staces realized it had ro uch sophisticated deep-sea rescue vehicles and established the Nawys Deep Submergence Syoteme Project. 1964 Med gasdiving cexperimente were conducted by Capt. George Bond ofthe US. Navy. and Capt, Jacques Cousteau of France, Like Cousteay, Bond combined underwater ving with @ ‘eres of experimental dives projects caled Sealab I, and ster Sealab 4964 Launch ofthe Auguste Piccard, a 40-passenser Swiss ‘our submarine. 1968 Aydragen bomb, ost off the coast of Spain, also ecused the world's attention on the importance of subsea vehicles. The Bt-fo0r (7 meter) Aluminaut and the 22-foot (7 meter) Alvin were puto work Whiz Ali ald find the bomb, tid ot have the capacity to make the recovery, 90a third unmanned vehi, the US. Navyremately contra vehicle CURY, was sent to 0 make the actual recovery. Ths event, ang wth that ofthe Thresher, significantly acelerated the development of the non-military submersible. 41968 Of she more than 60 underwater research facilites that have been designed, Hydrolab has been one ofthe longest lasting I: hap been home to over 300 scientist, 41969 The commercial oceanagraphc submersbie Places was the frst ot many consereted by IeteratioalHydrodyaics Company (yea) of Yancawer, 8.6 Several are sili use today 19708 inthe late 70s, commercial rterest an tectncogcal research nor oyotems shifted fom dvers to avo. is teouled in a great surge of ROY development nitly they handled Fipeine napecton, thon the moe sophisticated task of arling cuppor ard even newer sea trdernsterconstrction and maintenance Todays ROVS vary from 2000 that weigh under 100 ounds (60 tg) to the large "RAPE which tps the scales at 18700 pounds (8600 tg). Whe they cn range 30 deep 2 8200 fect (2100 meter), nose work A the rang of 800 £08280 fees (400 11000 meters) s9708Since the carly 709 thee has ben considerable devdomert of "personal submersles” or one parson, on atmosphare ding systems. These include mary versione of ealconalede suppor sytem caled “IM, ard forthe fro der to wear oe 4960-70 The Ttste habitat experiment allowed over 0 Solentiots tole and work 50 fest (15 meters) below the surface of ‘he Canibbesh Sea,1972-75 _nProect Famous (French American Mid Ocean Undersea Stud), teams of French and U.S. ecientiate used ‘submersible to descend 6500-10,000 feet (2000 to 3000 meters) and gather information about global piste tectonics, 1960s-present Mery tethered one-person, one-atmosptere systems such as the Galeazichoervacionchanber were developed ang this time period. Sal tetheress mivisubmersbles such 26 Deep Roverwere even more vereatie. Plotg ths mei-suemersibie 15 0 easy it as been compared to arirg a git care. 1980s-prosent Asie from torpedoes, the development of untethered vehicles, or Autonomous Underwater Vehicles (AU), has been only recently explored. The potential for cost reduction of work tasks such as surveying shoud continue to encourage further research and development 4084 Phil uytten further refined the one “semoephere dving ‘ystem, inventing the NewtSule which features fully articulated joints, Iecan protect a dior from the entrome pressures found 1000 feet (300 meters) below the seas surface and, in most cases is more econonical to use than ‘turation diving 4995 im McFarlane an eratonal Submarine Engineering esearch (BER) of Canada deveoped the A AECS for underee sure, lng wih numerove RO. 1905 Using a sures ar rmcte-contoled video averse, Bob Balard team fray cated the "ute" op ‘arc wich otruck on ese and sank 25 ren (S780 m tthe ean Borin 72 4987 The Sovet Union launched owe three-pereon submersibles, Mir and Mie I, which are operated worldwide from a large research ship. 19908 Japan's -peroon Shinal 65CO lo curently one of the deopeot ding eubmersbeo, The renovated US. Navy submersible ‘Sea Cl and the French Nautile are two more of the oma labal feet of manned deep-dhing vescela. 1998 Deep Fight a portable one-person, battery-powered system that hae been compared ta smal fixed-wing aircraft uit of modern material euch ao acrylic, carbon fiber composites and epory, tis designed to be lterally Rown through the water, DEEP FCAT 1"ooococooocccocooooccoooaoncono0con000an 2CTI TTT ttt tH} 44-b4 bt ocr I Trt Rte rte + 4-44 When it comes to AUVs and OVS, the vocabulary of modern, Lunderwator vehicles ean soem pretty confusing But itgets a bit ‘submersibies. icles Modern Underwater Veh aaortet4 44-b4 Lt dot, Lt i ame PIR tht ALL bia pis td TOOT TTT ICT Tee SRR E RR PR $b cpr MANNED SUBMERSIBLES Obviously a manned subersible ie one that has someore on board. Most people only ‘think of submarines. However, there are different types of manned underwater craft. In common subsea terminology, "submersibe" is often used to refer to any underwater craft, manned or unmanned. But technically, there is a difference between a submarine and a submersible. A submatice is generally regarded as larger In size and crew. ito primary uses are military and teuriom. Submersibles dive deeper ‘and are generally smaller in oize and crew (three people or fewer). They are used for commercial work (such as ealvage or maintenance o” ocean ol igs) ard for scientific exploration. ‘Another category of manned oubmersibles Includes ebservation chambers (such 35 ‘the famous Galliszzil chamber), atmospheric diving sults (ouch ao the NeweSuit) sna diving bells. Underwater habitats are not generally considered to be married submersibles because they are anchored to the bottom. NUCLEAR SUBMARINETTCTITTt AUTONOMOUS UNDERWATER VEHICLES (AUVs) and REMOTELY OPERATED VEHICLES (ROVs) In this class there are six types of robote that work underwater a) Tethered free swimming ‘This category includes the majority of ROVS. Many are equipped with video cameras and maneuver in 8x degrees of freedom (up, down, right, lef, forward, backward). They Can operate mid water or on the bottom. Although somte ROVe do have batteries on board, most have their power and control provided from the surface by meane of a tether. They are ballasted slightly positive and are pushed down to depth by a Vertical thruster. This technique is called active depth control. A surface control console, generator, winch and crane are required to launch, eperate and recover ‘tethered free swimming systems, b) Towed mid water “Those underwater vehicles are much lke an ROY but are towed by a boat. The depth 1s controlled by angling dive planes and/or the length of the towne let out, Tey are generally negatively buoyant and operate mid water though they can run close to the bottom for video search and recording, ‘The ARGO is a towed system that Bob Ballard employed In the search for the Titanic. I carved large lights and cameras. By running this underwater led close to the bottom in a long ‘search grid tow, sclentists located the wreckage of this famous ship in 1986,r ft L t t L I 1 L L I t L I {biti tig ¢) Towed bottom ‘These submersibles are generally huge structures that are towed by a surface craft: Weighing seversl tone, they are pulled along the bottom ard ususlly dredge trenches for cables and pipelines, Most have camera ard sonar unite and may carry a device to locate pipes or cables ) Bottom crawling Bottom crawling vehicles are large, negative buoyant machines with caterpillar ‘reads or archimedes screws that pul themselves along the bottom of the sea. Many look lke some eclence fiction earth-eating monoter. They carry the usval assortment of cameras sna sclentific instruments and are supplied with power from the surface Bottom crawling submersibles are used for dredging or following pipe in very deep water. Some are aleo used for mining mangenese nodules on the ocean floor. BoTroM CRAWLER, €) Structurally reliant ‘This class of ROVs is designed to operate only as part of an underwater structure ‘uch a0 a dril rig pylon. Thay are used for clearing and tenting steel and concrete structures. They cannot operate in mid water nor do they have thrusters, Usually they move along a pylon, girder or pipe by means of pulley, cables or hydraulic ‘mechanisms, They have cameras and lights and are tethered to the surface) Untethered or autonomous CTITCLT rye Prachta-h tte bad ‘Astonomove Undeneatr Vehicles (AUYS) are the vanguard ofa naw generatomof == LLL} b-bd) robotic exploration vehicles, Autonomous describes the independent nature of these |_| I_|_! |_| tlt | 11 Iachines. They al cary throm paver supply and have ro pyscalinsuchasa OY TTL DISET TT er, to the eurface cheb bt tether to bea y4-Ft ttJoLit sree A computer or erasers pees seme EEE T same cor Peete ttt td (eS Tet ‘route conteole t--++4 the vile on t-te b+4 tea mision Eiht Meroe ‘Foewanl Onboard 4+titt Heats concen c crt conmected to the computer ign naigstind woman sich aspen peed ph and time travelled. Sonar units allow the vehicle to avold obstacles and map the r rr bottom fr ebjecta. video camera captures and stores ages ofthe journey. At rac the end of she mission, the vehicle traromite it information toa ehiphoora b Kt td ‘computer and supervisor for evaluation L Lit Ltd Since there is no arect control of thie type of robo, the r rt pilot is called a supervieor. The value of AUVs is that they b -44 lr easier to launch and recor, don require a large chip EC bi for eupport and are abe to work under ie fields ouch ae L rt ‘howe found in the Arctic Ocean. ca Currently, there are stil tree main weaknesses inthe ALY ria concept) the ized amount of power that can be cari ri 2) the inadequacies of curenteeneor technology to prodde Li 4 computer with relate information of mission emironment, rt 3) computers and programming that can handle the large suv euen | rr amounts of data generated by such sensors. Future | Stecum rit Improvements in batteries ard sensors should ensure that t44 ‘this ype of robotic vehicle wil be che primary 20 oF 4 tomorrow's undersea explorers and sents. inHYBRID VEHICLES Hyprid vehicles are special purpose eystems that employ combinations of deoign featurce from ooveral typee oF ROV and AUV. Ona example is PURL, an AUV bull by ‘the Underwater Research Lab at Simon Fraser University i British Columbia. it can operate ao an AUY without a pilot but i sloc haa the option to be controled from the surface, like an ROV, through a fer optic tether. Battery power is still in the vehicle ‘Another example is Duplus, a unique combination of ROY and manned submersible. ‘can operate as a ROY but also can submerge with a single operator and carry out a miseion. It hao a manipulator and cameras, b4-b44 r separaSWIMMER DELIVERY VEHICLES Often divers need to be swiftly transported underwater to a work site, The swimmer eivery vehicle does just that, while also providing a safe and convenient platform for carrying tools and air. Some vehicles carry divers in the wet: at ambient preseure, (Others function as a one atmospheric diver lockout eystem. The latter system is the ‘safest, providing a warm dry space for decompression while surfacing, The former is simpler o build but is limited by time, depth and heat loss factors for the divers, LA-CL IL i4 Underwater scooters are an example of 1 diver delvery vehicle. Another i the Reet Rarger bil by a Flora company and used in the Jameo Bond move Thundertal $4-t4-b44-14 U - L4-Crsa-b a rt ShIMER DELIVERY VEHICLE ‘The human torpedo was actually a warhead delvory vehicle operated by divers. Used in World War I, it could get past ‘the submarine net blocking the entrance to a harbor and attach ite warhead to or benesth an anchored enemy ship. pacers t uan toRPEDo p4-$4—-b 44d CTT h-hh 4-HTTT TATTOO SRS R SRP ER Ett i A In early tines, underwater exploration was primarily limited to the depths divers could reach by holding their breath. Then about 200 years ago during the Industrial Revolution, the steam engine was developed, This source of eneray powered many new Underwater inventions Since that time, space-age technology has developed new materials, improved sources of poner and propulsion, computer-contralled equipment, and sophisticated Sensors. Divers now breathe underwater, working at far greater depths for extended periods of time. Submersibles and robots routinely descend to depths of B00 feet (1000 meters), and some are even designed to explore the deepest, darkest trenches of the acean, “These inventions enable us to probe the words oceans for scientific knawledae, tnlitary purposes, and commercial development of undersea resources, While Chis modern technology seems very sophisticated, underwater exploration stil offers significant challenges. There are many secrets yet to be discovered. These charto show current types of underwater technology and the deptho st which they operate,00 000000000000090000000000000000000 CTVET VT tat a tata ss ESRE GREER SREREE CRCr heer re chet Pepe ee pee rest it PORES prep se bss ssh tsp tae b es CTI eee eet epee eee et re HEREC RECESSES ESCH ECE ee Ee eee EOCCE CECE LLI-LIj-Lit-L4t-Lij-List-Lisi lib is lit ss4 i U kic-powered diving bell that ean be built with very Basic, Inexpensive materials. i i u Lt 1 4 uy i 1 4 i 1 4 4 ‘+. The Mark 2 version is slightly more ‘automated and requires a simple aquarium pump and two valves. Both are great experiments for a deep, bathtub, aquarium or kitchen sink. PROJECTS IN THIS CHAPTER. ‘The Mark 1 Diving Bellis a fun, iving Bell Build Your Own DPoh $b F het Imagine You Are... Imagine that you are Iving in Spain inthe 1700s, Most people are frightened of the 9a and believe it to be bottomless, except for a fringe of shallow water along the coast. Unlike moot vilagero, you are a strong, fearless swimmer ard make your Iving harvesting pearl oysters, You have a reputation for diving deeply and holding your breath underwater for an amazing length of time, Word of your abilities has spread, because ove day the K's messengers ride ito the vilage to find you snd command your immediate service. ‘The sights and sounds of Spain's largest seaport leave you trembling with fear and ‘awe. In the harbour there are huge wooden galleons. You have heard stories of these famous ships whose crane venture across uncharted aceans to bring back lures from Spain's colonies n the New World‘The king's representative explains that one of these mighty galeons, the Tolossa, has fallen victim to a hurricane and foundered on a large coral reef off Hispaniola. He ‘commands your services to assist a crew of divers in recovering bras cannons and a ‘treasure of pearls, gold and diamonds from the wreck Your reward? A share of the recovered goods, a chance to see the fabled New World, and fame for your family and vilage. ut you soon learn that this promise of fame and fortune is not without its hazards, First you must figure out a way to stay underwater far longer than you have ever ‘managed before in order to salvage the heavy cannons ard treasure. And then an old arizied sailor allo you horrible stores of huge, swift fishes whose teeth can tear Chunks out of aivers. Obviously, your old method of diving ist going to work in these txopical waters! ‘As you sit on creaking ship's deck, bound for the Carbbean, there is plenty of time ‘to try and solve these problems. Somehow you must take additional air underwater with you. Secondly, you must find come way to protect yourself and your fellow divers from those fearsome fish. But what resources are there to work with? On board, you see ropes, chain, salle, tar, wooden barrels of various olzes, a blackomith ard a sallmaker. What devices can you design to help in your quest to euccesatlly salvage the Tolossa's treasures? DIVING BARREL INVENTED in. ‘Te TloOe IN ENGLAND. es at (A _ SES In Fact... U ‘The Spanish galleon Tolassa u actually didigo down ona massive | coral reef off Hispaniolain4724,. Although earlier divers utilized diving bells to salvage cargo from Sunken ships, Tolassa’s cargo of brass gune, iron grenades, pearls, goldand diamonds was not recovered until more recent times, Using modern techriques and “equipmentme a iP Iba era ti J Ordinary, people cannot hold thelr breath underwater and swim around for much more than two minutes. G0 divers needed to find some artificial means of getting ar i they were going tobe able to work beneath the ceas for any length of te. One of the caries: ventions todo thi was the diving el, which trapped a euppy ofa for divers. In 383 BC, Alecander the Great of Greace wae ea tobe one of the rt to explore ‘the sea fcor using a simple diving bell equipped wth a alae window. THs invention enabled divers to sui up into the bell and replenish thelr ar without Favieg to 90 back upto the surface. a 1680, Edrund Halley's diving bel tok him €0 feet (20 meters) underwater. In the 18th century, diving bells became more sophisticated. Some took down an ‘additional supply of air in a barrel that could be transferred by a hoseinto the diving bell A second hose went out from the bell and supplied a diver a6 he worked. (See illustration) Since then, stel diving bello capable of holding several people have bee used for salvage and construction work. Continuous air ie supplied from an sir compressor at ‘the surface through a hose to the ell Bathyspheres are a sophisticated version of early diving bell. These preosure-tight steel spheres are lowered by a cable from & ship at the surface and esnmot be manewered. However, they have permitted crews to explore beyond the depth of visible light and return av. In 1930, Otis Barton and Willam Beebe showed the possibilities of ‘his form of underwater investigation by diving more tha half a mile (792 m) below the ocean's surface using a bathysphere. n a steel phere of somewhat dlferent design, Barton reached 4500 feet (I360 m) in 1949, BRTINSPHERE‘The earleot diving cult used the same idea as a diving bels trapped source of Essentially it was a barrel that fitted over a percor's head and upper body ard wa9 fcaled with leather flaps. The barrel had a glass viewing plate, and air waa pumped I ‘through a hose from the surface. In 1715, John Lethbridge invented a diving sult which enabled man to go to 60 feet (20 m) underwater. In the late 17008, invertors Combined the idea of compressed air for diving with the development of metal helmets and flexible ouit. L4-Li4 Cree t4-F4t4 im T mr ae I oor race F4-h+4—h 45 b4ib44bi4 c Hoard hat diving suits, such 2s that invented by ‘Augustus Siebe in 1818, fed compressed air to a divers brass helmet by means of a hose ‘connected to a pump in a boat. Heavy boots kept the diver upright. With the Siebe ouit or similar versions such as the US Navy Mark V, divers have routinely worked at depths of 300 eet (100 m) building bridges or ealvaging ships. Today, high tech helmet and sdvanced communication equipment make hard hat diving ‘the safest and most efficent way to work underwater at medium depths for long periods of time I Tra +t Toeptch} I Much more recently, one atmosphere diving sults such as the JIM sult and the NewtSuit have enabled divers to werk easily at depths up 1 1000 feet (200 meters) and for extended periods of time. These one atmosphere suite Many resist the extreme pressures of deeper water Dwg Suir and don't require divers to go threugh long periods of decompressionA diving belli ke an underwater elevator. Ils connected ta the surface by an air hose and cable. Here ls a quick and simple te way to construct your own aving bel You can find most of the materials for this project in your house or school. MATERIALS + a plastic squecze bottle o similar container Ike a emaller plastic pop bottle, Ie important that the container be longer than it ls wide. + 21172 foot (1/2 meter) or longer length of flexible aquarium air hose or rubber tubing + a rock or weight large enough to sink the container about one quarter ofits length when iti fle with air + a roll of masking tape or black electrical tape + alenath of string ‘a bucket or sink to fit your container a9 mt ry HA Lo CONSTRUCTION 1. Tea string sround the rock or weight, Then tie the other end of the string to ‘the mouth of the container 60 that the rock hangs about 1" (25 mm) directly below ‘he centre of the container opening, as in the diagram. Secure the string to the opening with tape, 2, Insert one end of the tubing into the container opening all the way to the bottom. Then bend the tubing where It exits the container taping it to the outelde of ‘he bottle in tno places—once near the top and once near the bottom, TI +4 ‘eavrane oe foxmnise 3. Now filyour bucket or eink with water. CEITCT TTA AhoWe racrter HRP b 4b t st -LI-Li 14d Container) in the bucket or sink filed with water. The diving bell should float with tts weight hanging down. Now take your thumb off the end of the hose. The aving bell ‘should sink, When it hits bottom, blow into the tube and your diving bell should rise Block the end of the hose with your thumb and put the diving bel (that's your ‘See if you can get the diving bell to hover in mid water. OPERATION ChallengeLi ELI Ls SP PRT td Lid $4-b44-b4 td Rtebtre toe bch pap pet he CETTE eet “To save your lunge and alow the diving bel to operste in deeper water, you can use low pressure air source such ao an aquarium pump to compress the air and operate ‘the bell In nautical terme, ths Is called blowing ballast. Modern subs use this method of diving and surfacing MATERIALS: ‘You will need the ssme materials used for the Mark Diving Bell plus these extras: one Sway aquarium valve one Z-way aquarium valve an aquarium sir pump CONSTRUCTION Build the Mark 1 Diving Bell ao explained on page 26, OPERATION WITHOUT VALVES ATTACHED. 1. Connect the aquarium pump to the end of the aquarium tubing that: comes out cof your container. Turn on che pump and place the diving bel the water. It should Float. To make the bell sink, remove the hose from the pump. Your diving bell should fill and oink 2. To raise the bell, simply re-attach the hose te the pump. The aie from the pump should now push the water out ofthe bel, causing it to roe.OPERATION WITH VALVES qq See if you can get the Mark 2 to hover at differen depths, bebo Cbvously, ts rather eukwad to keep removing the hse from the pump ard AaUARIIM aan ‘then fitting it back on. By using two aquarium valves, you can improve your PUMP. san contra of the ding beso itcan be precio raised. mere, and even A fevered n mid water, aan cris 1. Attach the bw vahes tothe hose as shown nthe diagram ami “au wif ave to ct a short bt of fubg to make a aggre rq connection between the valves. Then ture on the LL pump. MODEL OF ri rt + Tosink the bel, close valve #1 and open valve #2, DIVING BELL. be ro + Torais the ving bel open va #1 and close L_ ate re + Now try to hover the bell. This is tricky, but fun, pat The key i let jot enough water a your ding mo vel a mate ie navtraly buoyant thon ooo valves ry and #2: The bel should hover mid water tt t Challenge 4 4 i 7 ouTsiDE, OF CONTAINER. i berate'00000000000000000000000000000000000 CTV TIT TIT Tee PAS RAS TER PR ttt Piatti dad tt Polar im TIP Terr 4 PRR Rt te ttt rte tt bitpto bb hdd bed bt thd thd Peer rere ta pt ia PECL are eee eb PTAA TT TTT aT tat LLI-LitolLtoilt bbb do bi bili bis &Zam 4 1 1 sie I CTIWTINCT a 5 q Based Hobbs Hn Sea Pyudhal a teteseeie! GOUT ee begs ricoh “PEPEETUT g segbesepege cocrocrrrr -DU-LiSL ar & eseabeessse Ctr Kons | Habitat Build Your Own UnderwaterImagine You Are... Imagine that: you are an experienced diver a6 well as a recent graduate in uiderwater engineering. When you were a student, your class studied the design of several different kinds of underwater habitats. But the mast exciting learning experience was actually spending ten days living 5O feet (15 meters) below the surface of the Caribbean Sea in the Tektite subsea habitat. There you experienced ordinary things ‘such a8 cooking, sleeping and taking showers, but all underwater There were also extraordinary experiences euch as swimming with large reef sharks and stuiying underwater for prolonged perlods of time without having to resurface, LLL ‘As a dlver, ou know that underwater habitat systems provide several advantages. cover traditional diving techniques. The most Important are increased time under water and access to greater depths. i A-List bis 17) Newyauae gatustad tom ners ard lnddaoith renal company tho cual Sand lls nde hatte Yo se sas face the Mea teno cna aoe desan aalederaer mantennc guage truerThe garage io part ofa scientific research station located 65 feet (20 meters) under the surface, near a warm water ret. The oceahographers invoked with this froject wil use submersible to venture into deep water and to bring down supplies {rom the base station. Foner and sr forall the habitat bulings oo be supplied 4 from the surface va a tether that i linked to the shore. Anchored near the habitat, 4 your maintenance garage needs to allow submersible to dock ede 6 technicians 4 ‘can work on them in a dry pace. In Fact. q ‘Tho Toke habitat actually What obstacles and challenges wl you face i ling a Pisin Damen eee structure that can withotand this ocean envionment? fermorethansoscenisis-and | How wilt belie other habitat structures? How wl tbe engineers in 1969 and 1970. ! diferent in order to ‘Working in toams of four ove serve a9 garage? A Beople, they spent rom 101660 | days ving and werkng below | | T ticeUNDERWATER HABITATS Subsea habitats are a recent technological development, Lese than 50 years ago, Pioneers of underwater exploration developed the concepts underlying saturation ‘diving and thuo, underwater ving, They knew that divers using compressed air have limited work sessions under water because they must spend so much time in decompression when coming back to the eurface. Deep ales, utilizing mixes of gases such as helium or hydrogen, require much longer decompression times. However, once a diver's tissues become saturated with gas at depth, the decompreseion period remains the same, no matter how long the dive lasts, PTICTIT What does al thi saturation stuff have to do with underwater ling? Well, when divers eave a habitat such as Tektite to return to the su-face, they all decompress for 21 hours whether they have been underwater for 10 daye or GO. So It makes good ‘sense for scientists involved in long-term projects to ve ard work underwater i habitat environments crt castes fom. FORE AND AIR rIcrtThe frst saturation diver was Edwin Link in 1962. That same year, ceanographer Jacques Cousteau designed three Conshelf habitats in the Mediterranean and Red ‘Seas, Here several mic lved and worked underwater for a month, Cousteau was looking to a future world where overpopulation and dwindling land-based resources Would force us into the sea. At the same time, US. Navy Capt. George Bond wae ‘experimenting with similar saturation diving habitats called Sealab I, and later Sealab il Since Link's first saturation dive, more than 5O underwater research facilities have been developed. Among the longest lasting was a system called Hydrolab. Since it was launched in 1968, it has been home to over 300 scientiots. One of the most Interesting seri of Hydrolat’s missions involed the eubmersible Johnson Sea-Link Which transported dvcrs from Hydrolab to the edge of a steep ocean wall for dives up '%0.260 feet (BO meters). Aquarius is probably the most modern underwater research habitat, Situated some 50 fect (15 meters) underwater, it i occasionally used by NAGA ta provide Scientists with an experience similar to living in space, While science fiction stories euggest that it might be possible to Ine underwater at any depth, human physiology seems to set the limit at arcund 2300 feet (700 meters). However, an altemative to amblent underwater habitat, which have the Same pressure as the water around them, Isto design ene-atmesphere dwvellige ‘These underwater structures provide the same atmospheric presoure a2 exists at ‘the surface. Livi Lio 43: ATMOSPHERE-|—T- Taser | Lg haa Ae ABITAT WHT 4 |. hare AMBIENT PRESSURE HABITAT [iaioen | {TI stm MooxrooL {eee ki Are PRESSURES b 4 Susur woe J Han WATER PRESSUREb44-b44 L 4 a SPT tt O- +-A+ i mrt b4-h+4-L 44-1 ce a1 Rtaert et acrt “This project shows you how to buld a very simple undersea habitat. This ambiont preseure model has no moving parts. The challenge is to see if you can come up with one that could serve as an underwater garage for servicing ROY and submersibles. ‘Your imagination ie the lit, Ifyou have a very large contsiner for your habitat, you can vtlize vehicles from other projects. For example, the SEAPERCH ROV can dock through the moon pool. And the Mark 2 Diving Bell can serve aa an elevator to ‘transport weights and supplies. MATERIALS + aone-gallon (4-lter) container with an open bottom (A clear plastic vessel is best. For larger habitats, use a large clear plastic storage container as in the Mustrstion) 1 weights for anchoring inverted container underwater (A gallon container wil need rrore than 9 pounds of weight. A 4-lter container requires at least 4 kg of weight.) Bricks, metal or dive weights work wel ‘© s:ring for attaching weights to container © black electrical tape masking tape TOOLS fot glue gun and glue sticks © small del with 14" and V6" bits © needle nose pliers '*serew driver and screws = emsll knife oF sclesors 1 de cutters or wire cuttersOPTIONAL MATERIALS: ‘+ aquarium pump, hoee and valves + Lego®, Kinex® or other building toys to make interior and extemal structures for the habitat © bathroom scale ‘+ an aquarium large erough to contin your habitat (the bathtub or a swimming pool wil also do fine) CONSTRUCTION |. Fill your container with water and weigh it on the bathroom scale, if available This weight Io the amount of water your habitat will displace. You wil eed a litle more than this weight to anchor or ballast your habitat, 2. Empty your container and wipe it dry. 2. Drill holes around the opening 60 you can attach the strings that will connect your ballast weighte, (Note: If the habitat doesn’t stay level in the water, you may need to adjust the length of the strings.) ‘4, Thread the strings through the holes and then tie them onto the weights. f you are using the big container, you willbe able to plot your SEAPERCH ROY into ‘the moon pool or opening, Leave st least 6” (Sem) of length between the weight and container for clearance. ‘experienced adult you are i 1 Get assistance from an c i u ‘unfamiliar with using any of ‘these tools. There's aiso ‘helpful information about tools snd thelruse on pages 438-140, oo ‘aun TAINER. ( : : i fava lly gcapsebe & Eshaseiay pipeeshag 6 berths shhh LL -L dtd ti ct i a bsPrd htt ti CITT rc s ' hth +4 I EECA bj-Ltitttitociipiwr titi bs your model before adding the weights. Attach the structures to the container with ‘You can also use an aquarium pump and hose to supply ar to the habitat. With the pump you can raise or lower the water level inside the habitat. Dacking with a ‘SEAFERCH ROY is the best demonstation of how to dry transfer from a sub to the Underwater garage in an ambient pressure habitat. hot glue, screws or electrical tape. room, sleeping quarters, etc. hese features are easiest to construct and add to Its fun to bull interior Features euch as a deck or multiple levels, camps, a control Optional Details:“‘00000000000ODOODDOOOOOOOOOOOOOOODOD CTCL TOIT TT eT HbR Php tb tc htc tach tet P4-PPS de HH TTT err CCC CEEEEEE CEE ry rere 4 It tot dt Peery ea ae eae CECE ee ereprerert PECCUCCEEEE PETE ET eered PREC EEE REECE TEETH EEE CECE eee PE4 bbb ep tb tb et LLd-Litibie ba bid bis bd tb bid ¢Build Your Own Underwater Glider PROJECTS IN THIS CHAPTER | ascot ptseo a Teac aaa Wore oiet ee glider projects in a pool or lake so. er ee pees Meath ewer eee ceortmereabuawers Socineuyine teres es sral_| placement of weights. 1 Te etn of irs on the tare 2 haw alows pe vanciets | Soe | © Thetark3 Gier's gengredt —! feutecetonetouome(apeel | rake sare roe te etnImagine You Are... Imagine you are a young inventor. Your workshop is ful of bite and pieces of Underwater robote youve been working or, but 60 far no one hao offered you a job. ‘Your closest friend is a physical oceanographer who otudies ocean currents. Youve been over to visit her at the nearby research lab and have gotten to know several of the other people working there. They all seem to lke thei careers but are always complaining about haw dificult fie to collect enough data for ther work. They talk about how lucky meseorologlats are because they get information so easily. There are ‘thermometers and barometers everywhere on land. Satelites regularly send back data from around the world. And twice a day, more than 800 helium balloons are ‘ent up from meterological stations around the planet. These balloons radio back information on the temperatures, pressures, and wind epeede they encounter before ‘hey explade come 20 miles (35 ken) up, TITPT IPT base hh -+4 gOTut physical oceanographers aren't 90 lucky I takes a great deal more money to ‘send out a ship and crew of scientists to monitor the temperature or movements of ‘ocean currents. Your friend dreams of an oceanographic equivalent of al those helium balloone—eome simple and inexpensive way to get data on a regular baste, ‘Your friend confides that the lab has a good chance to land a big research grant it ‘thay could only come up with some way to get a eizeabe chunk of data, And that: 4ev8 you to thinking, You've already played around with underwater gliders so you know that they are Inexpensive to buld and simple to operate. But could you design one that would ‘sample temperatures at various levels in the ocean? Ard can you figure out how to get a glider to dive to a certain depth and then retum to the eurface again? How Could you ae tmperstre samples om a scree the ocean Carty aint ar orig | Youth toy fasta oh anna to hat igi Se sasha | SAMS Ap Bac) ‘the project would hire you IF you can produce a set of workable plano. Oously. your | Henry StoRM Maan! works ctor frye hat cheno wala act Congo ec socro pide?” | HeStummaiada ace ot | theocean collecting data. Hiskdea | ‘was actually built by afriend and Srones aed DougWebb who | ~~. combined a glider withthe idea of 4 s ~~. -adevice that repeatedly bobbed j a “tp and downin the water q testing dats, 1 These wontons worecaled | reson Becomm(ater lon ecu | Dewee ravi We vsttan | sae Sresmmogate ge 1 Guen men ‘single-handedly in1898)andare | now being refined by others. i Ploronisone otwseigtech ‘experimental underwater glders | Sotby speneseccomase ‘ ~ — |b L i i L L ‘The concept of underwater gliders has been around for a few centuries. the effect of a dive plane was well known on sailing shipe engaged in fishing Fishermen often used depressors or angled wings to pull their line down into deeper water. Today a very common device called a Deep Sixis Sold to sports fishermen. Essentially iis a towed ilder or depressor to take a trling hook down to deep depth without having to use alheavy weight. ‘The underwater gliders ike an airplane glider in that it doesn't have any propulsion ‘force other than aravity to deve it. Both types of gliders use the principles of lft and drag to control their descent. A glider may seem simple, but the principles involved are complex and are the ame a8 those used for submarines and autonomous Underwater vehicles (AVS). A controlled descent saves valuable battery eneray needed for the veicle’o underwater mission. enrasies ie (Se spue Foeuio AW EeSoncs We do not know when the frst submersible craft employed the alder principle, but 3 large number of military and commercial manned subs do use dve planes in order to ‘lide down to depth. This allows them to save energy and stay quiet. Although mary fubmersibles routinely take on ballast water ard eink to the bottom, some have large ‘enough dve planes thst they can glide down in a cicular path. In the 1960 and "702, the US Navy explored the idea ofa long range glider to crose ‘the Atlantic. The dea Was to otart the vehicle on a shallow glide path unt reached a certain depth. Then 2 gaseous ballast would force water out ofa tank on ‘the glider and the vehicle would rise to the surface, having travelled many nilesUnderwater. The glider would then submerge to begin the process again. Tis is called “sawtoothing”. in effect, the glider would transit the ocean, requiring only a small amount of enenay to mate the crossing, However, It would take a considerable amount of time, because the sawtoathing pattern would be slow. Recently gliders have been used in developing designs for AUVs. One hybrid powered dlder, called RAY, was designed by Simon Fraser University's Underwater Research Lab to descend by using a moving weight-tim system, RAY's jab is to get video and ‘temperature data. ‘The Slecum, invented by Doug Webb, isa true AUV alder. In fact, it has no propulsion motor but uses a system of expanding gases that are pumped into bladders to ‘change the vehicle's displacement. When the bladders are empty, the vehicle sinks and ite dive plane surfaces cause it to glide tomards the bottom. A sophisticated on-board microcomputer and sensor keep it on course and a Conductivity! Temperature!Depth (CTD) sensor collects water colunm data. To rise, the computer then causes the gas to be pumped into the bladder which increases the displacement: ‘and causes the Slocum to move towards the surface. The system io atl experimental, bt one day it may be used routinely in long endurance ocean robots. stocum rTTt TETTVrt Tr T i 4 i T T i Lit HH Litt ri if i i 4 tlider with very litle trouble. “There are soveral versions of. underwater gliders. The simplest ‘one is a triangle with equal sides. However, you might want to ‘experiment to s00 if diferent types of triangles give different results. ‘You might also want to try Increasing the sizeof the triangle, proportionally to see If size affects performance. ‘Just remember thata bigger triangle willnoed a heavier weight. ‘You will have to experiment to find ut juct how much weight is needed ‘and where it should be positioned. MATERIALS ‘+ a thin 18" ( mm) piece of Plexiglas® or any cther thin rigid plastic in a lt piece ‘hat is 6" (1Sem) squares even 1/16" (15 mm) pece of aluminum or 1/8" (3 men) plece of plywood wil work © one heavy metal washer (about V2" or 12 mm a bolt or fishing weight wil also work + a minimum of 30 feet (10 meters) of string to retrieve the glider (monofilament fish line and a fishing ple Io easiest to use with the glider project but any kind of light ecring will do) TOOLS hot glue gun and give sticks # back saw oF jg saw + small electric dil or hand del wth 1/4" and U6" bits CONSTRUCTION 1, Ona thin sheet of rig plastic, Pesglas® o- plwoad, draw a 6" x6" (IBcm x ‘Sem square. Use eafety glasses when cutting plastic or Plexiglas®. Also be aware ‘that the edges can be quite sharp. 2. Then draw a sold diagonal line from one comer to ite opposite comer. 2. Newt draw a dotted line from the other comer ‘ots opposite. The dotted line and the solid line should crose each other to form an Xin the middle A. Using the jg saw or back aa, it along the ‘cl line, You chould end up with two triangles ich wil make two gliders. 5. Using a 1" aril bit, drill a hole ap shown on the diagram, This hole is used to attach your retrieval ‘tring6. Make sure the hot glue gun is up to temperature. Then glue the heavy washer at ‘the front ofthe alder, ae shown in the diagram. It is important to make eure the weight is centered and sits ove, 7. _ Attach retrieval string to the hole at the back of the glider, tying a secure knot. OPERATION ‘Your Mark | Glider io ready for tts maiden test fight! To launch, make sure the retrieval string is securely tied on and has no tangles. Then hold the glider level to ‘the water's surface, weight side down. Release, remembering to hold on to the end of ‘he string Challenge ‘The trick is to see how far you can make the lider go before It hits the bottom. You do thio by controling the glide's angle of attack, ‘Hore is the rule: the less the glider points down to the bottom (ie. the shallower the angle), the further out the glder will range and the slower i will travel The steeper ‘the angle, the faster it wil descend and the shorter the distance it wil travel outward, IF there is no angle, the glider wil ust wobble back and forth to the bottom. This fe called a stall 0 rene Ns CTICTI TIT btdsb thet LAsenevae | IL tio 1 What affects the angle of attack? “The size and position of tnd the positon and sizeof the ‘lost in elation tothe weight are. ‘allfactors. There is more. ‘information about this inthe What Works, What Won tsection of the’ crt ++ Lit td bod bt 44-14 II-ET 1 LI‘You can make a glider that has 2 | rudder. This will allow you to adjust | the rudder and make your glider ‘turn ina circle, CONSTRUCTION Follow the same instructions for the Mark 1 Glider but add the following stepor 1. Tomake fino, cut two triangles out of the same fat plastic material you used ‘or the lider, The size lo up to you, but one should be smaller than the other fi to accommodate the weight, 2. Position the fine according to the alagram. 3. Glue the fins to the body, using a generous bead of hot glue on either side of ‘the fin where i Joins on the wing centering 4, Measure off 2" (50 mm) of maoking tape and attach it according to the diagram, (Note: the tape Is doubled back on itself for strength) This tab of tape is ‘the rudder. OPERATION ‘To steer the Mark2 Glider, bond the tab of tape either lft or right. Experiment with ‘the rudder angle to see the effect on the gliders descent, ‘You can improve on this masking tape rudder by cutting out a pece of thinner plastic and attaching it to the fin with masking tape. This rudder is a hit stiffer and more durable. Experiment to see how rudder size and position affect turing ability Challenge Can you make your glider descend in ciecular path?MATERIALS Same as the Mark 2 Gilder but add ‘© no pieces of styrofoam V/2" (12 mm) high x" (25 mm) wide x 4" (100 mm) long or a fishnet flat. The advantage of using a fishnet float for material ls that itis made of pressure resistant foam that is more suitable for deeper glider misoions (Note: the dimensions given for the two floats are only a etrting point, 60 you may need to do some trimming, The type of foam and size of the triangle and even the density of water wil all affect the volume of foam required.) * -meoking tape for testing the number of weights required © a bucket of water + apackage of Lfesaver® candies (Note: peppermint melts the fastest and the coloured ones the slowest.) You can also try a sugar cube or rock oat. Hopefully, this time you don't need to use the retrieval string since this glider io designed to come back to the surface by itself. tis probably wise to use some string, however when you are initially experimenting with balancing the weights and float. CONSTRUCTION 1. Build your glider just like the Mark 2 versio. 2. Cut out two pieces of styrofoam or fishnet Floste, angling the ends to make ‘them more streamlined, or hydrodynamic. Use caution, especially when cutting hard Foam, 3. Now you willneed to experiment and figure out how mary weights are needed to sink the glider. Lightly tape the weight(s) and fosm pleces and the glider together. Ir doesn't matter how you do this since you're only concerned with total mass at this point 4. Doa buctet test to calculate the exact amount of weight needed. Put the ‘tapec-up glider, Floste and weights in a pall of water. When the glider sinks, you have ‘the right amount of weight. If it floats, add more weight, Note: you can cut off some otation, but it i usually easier to add more weight. CITT] Bot rk itt ‘This glider will actually come up from the bottom of the pool or lake after it drops its weight Simon Fraser University engineering student Petor Helland came up With this sweet design. te x 4 ri Tt | 124 bet im rt N uf tgs ie rterracrr $b 4 tig 2 cil ci cto rtorrtcrt b4t+Remember that a glider has to be negatively buoyant to work However, too much weight wll cause the glider to angle too steeply ard it will sink rather than glide down. tis a challenge to get the balance right! 5, Once you have figured out the right amourt of weight, untape the weights from ‘the foam and glider body. Set them aside. Now glue the foam along either side of the fin, on top of the glider wing a6 in the diagram. 6, Then glue one Lifesaver® candy onto the bottom of the glider body, a in the diagram. (Go eaoy on the glue.) 7. Lightly glue your weight(s) to the candy or sugar cube, so that the Lifesaver® is between the lider's plastic bady and the weight. 2. Hopefully, you wont need to attach the retrieval string because this glider wil reeurface, But for the fret few testo, use the string until you are satisfied that the weight ard fcats are balanced the way you wart them and the glider descends in a hice easy path to the bottom, OPERATION When you launch the Mark Glider, it will head underwater just like the Mark However, after a while, the Lifesaver® will dissolve in the water. The welght will then drop off and the Mark 3 Glider chould rise to the surface where you can see it Challenge Se How lng wil ake forthe glider to surface? We experiment with the pack of Lifesavers, -~ pe, sugar cubea or rock salt £0 find out haw long Ee ‘hey take to disso le the tie any afferent in saltwater ori fresh water? From the experiments already done, we know it takes longer forthe candy to melt in ‘cold water than in room temperature water. Thus the warmer the temperature, the faster Ie melts, We tried thie out in a cold lake and it took about an hour for the lider to come back.MATERIALS The materials needed are exactly the same as for the Mark 3 Glider. CONSTRUCTION ‘The construction is aleo the same as in the Mark 3, but with one small alteration. When you glue on the candy and weights, attach them co the faam (top) side of the vehicle rather than the bottom, ao in the diagram. Again, experiment to get the right. amount of weight and the correct placement, ‘Tis glider is areal experimental _| project. thas worked in tests, bbutlends itself to lots of ‘variations of float and weight placement and even drop weight ‘mechanisms. 1-you wart the ark 3 Glider togh. =F : Hal sage = seask é Stade 2 gitei 8 e2gss > Pesky g eeesh 8 Hing (he gyeek ih silik | // Stagg § qe i fg gle de / ghd Bs / aSpid gf 5 Fe stein Bel Ai 8 fesse gis WITT TT Itt tart et) EERE reer CeIn See tt. 4_! 4toL4o. reer rrr rr rrr rr erat BREESE CSE LLa-bto bt bi bob tb Lt Ld ti 8“CTT ITT Sh tthe Eb LAL Trouble Shooting: if your glider doesn’t resurface... 4. Youmay have used too much glue, accidentally attaching the weight to the glider body through the hole inthe center of the Lifesaver Try it _sgain, orking neatly and with less glue. 2. _Thecold water of the lake or ocaan slows down the melting process, ‘S0,you may have to walt up to an hour for the Lifesavers to melt and drop, the weight 3. _ Your foam may have collapsed due to wator pressure, Most styroloam ‘cannot resist pressures greater than 10 fect (3 meters), You may want to try tsing @ fishnet float which is made of polyurethane foam-—the same type of {foam used for deep ocean flotation on undersea vehicles, This hard or ‘pressure-resistant polyurethane foam can be ut and shaped like wood and ‘wll be more reliable for deeper glider fights. 4. _The major problem in designing these returning gliders ls gtting ‘enough excess flotation to raise the glider back up tothe surface after the “weight is dropped. So the real trick sin experimenting with the balance of \weight versus flotation: Have patience and use a retrieval string on theeooaanAAHAgOOOANONANDAADBOAGNANAHANBAD CUPP ITE TTT PEASE RR RR RR ptt tthe beta ibtod bt t I HEE FH Lit bby bd tb tt bb dt bad Perey cree er reas FE4-b44-b 4b bt pb tbe tt Lid Lit -bi ba bi bib tb bit &“Remotely Operated Vehicle ise tI PROJECTS IN THIS CHAPTER. ‘These two underwater robots are the ‘most advanced projects in the book. ‘You should probably be a least 12 or ‘older and have some experience with tools, wiring, soldering and aying out ‘measurements, AS wot, the tools and ‘materials for these lwo projects are ‘more complex and costly. Howaver, + i 4 4 I i both SEAPERCH and SEAFOK are.roal —! underwater ROVs (Remotely Operated Vehicles) that offer challenges in + SEAPERCH involves building thnustors and frame, wiring a contro! ‘box, and mounting ail he components together. You can pilot this ROV in a baths, test tank or pool. + SEAFOXrequires six small bios pumps soils. slightly more expensive project. Butlf constructed ‘and treated with care, this ROV can last for years. Cit l eet 1 Ly u qImagine You Are... Imagine that you are awel-own marine salvage engineerin the 196U'9.lension between ‘the United States and the Sovet Unions at ts height as the two super-powers compete in the space race and threaten each other with the potential of theie atomic weapons. Regularly, nuclear bombs are moved underwater on ‘submarines and over the water aboard aircraft. The potential for an accident io very rel ‘And one day it happens. Your phone rings and the voice on the other end commands your attention and services. Two aircraft have colided high over the Mediterranean. One of rethe planes was carrying four tydrogen bombs. Three of them landed on Spanich sol and were able to be recovered. But one of the bombs ls missing, probably somewhere off the coast of Spain in extremely deep water. Will che fourth bomb detonate and destroy southern Europe? Or can it be lacsted and neutralized before the bomb explodes or before unfriendly powers indie? Your mission ls {to find the missing H-bomb ard recover it. But how will you do the job? First you take stock of the situation. You are well aware that the submersible Trieste has just successfully descended seven miles ito the ocean depth, eo searching for a missing bomb in deep water is possible, You also know that the dangers of radiation, extreme cold and lack of power seem to rule out using saturation dere or even a ‘submarine crew. What's lee? ‘Ae you ponder the problem, you realize that the aerospace industry hae developed ‘sophisticated new computer technology to bull rocket an planes. Can you figure out ‘way to adapt this technology and bull s remotely operated robot or vehicle Chat wil function underwater to do this deep and dangerous work? What obstacles and Considerations are there? What jobs wil have todo? What wil hie underwater machine look ike? Jn Fact... 1 ‘This scenario withthe plane crash and the missing nuclear bomb i & ‘rue story that happened early in 1066. In fact, several manne: ‘submersibles capable of operating at extreme depths were broughtin to locate the bomb, The 22 fo0t 6. eter) Alvin actually found the ‘Nuke 4, butt lacked the capacity to make the recovery. For that Job, an unmanned submersible named (CURV was brought a. Incidents such as this one proved the valueof deep sea research vessels and afterwards the development of non-military ‘submersibles began to accelerate significant eet bracR ttt Lit iti LISSr soSE q-t4 CISCDAS Ca ee 1] Ptacrtort racer 4-444 ROVe are modern inventions that play an important rlein undersea exploration. ROY stands for Remotely Operated Vehicle. They are unmanned underwater robotic: \ehicles or work platforms which are controlled from the surface by a pot. ROVs may Carry cameras ad lights to extend the sense of eight, trusters to move around or fy, and may have various other sensors such as sonar to enhance navigation and location of objects. ROYs may also be fitted with a manipulator arm ard carry tools ‘to perform tasks at: depth. 08 HEAD ey ners jp netmon ewe i een YT) Car ss }—riesbrens —(| “Tyeicnn ROY ; COMPONENTS SIDE ew ‘An ROW comected to te plot by mean of tlherc-umbilleal. tthe basically a protected electrical cable through which power for the thrusters and other systems is tranamitted. As well It conveys control signals from the pilot to ‘the underwater vehicle. The tether cable runs from a generator on the surface to the pilot's console and then to the ROY. For smaller vehicles the tether also acts 28 a lifting cable to ewer and eaige the unit out of the water. The pilot controls the ROY {at a console which has ty monitors, joystick thruster control, depth and manipulator controla and an instrument dloplay for the vehicle ‘The tether is the ROV's main advantage because it can carry unlimited power for high endurance operation, tis also an ROV's greatest handicap because a tether limits ‘the range and speed an ROV can travel, Entanglement ie a significant danger. I the ‘tether gets caught on something at-a great depth, then a costly ROV may never‘each the surface again. So a plot's greatest stress is to ensure an ROV's tether is free of kits and does not snag, L reo Remotely Operated Vehicles were developed in the late shties to meet the challenge of Increasingly deep water dives demanded by the military and the offshore ol industry. ‘Mixed gas eaturation diving was becoming very expensive for routine chores, and the ‘ising mumber of diver accidents was unacceptable. The use of manned submersibles Improved things but still posed hazards to the cub crews. A memorable example was ‘the Pisces Il accident oft Cor, Ireland in 1973, where the submersible sank when tts hatch was yanked open by the tow line when it was being pulled back to the chip. The dramatic rescue of this submersible inwoled two Pisces clase subs and CURV Il, the US Navy ROV whose predecessor had been used to recover the H-bomb lost in the sea off the Spanish coast in 1966. CURV It successfully delivered the ift line to the stricken sub so ite crew could be brought to the ourface. Such real-ife demonstrations of the versatility of ROVs dramatically increased the demand for this type of vehicle. ‘Most ROVs in the world were bit to be large, industrial machines. That changed when iaentor Chris Nicholson developed the first Low-Cost ROV, or LCROY, and christened it Mini-Rover tt carries one color camera, light, three thrusters, compass and depth gaugo—all ln. 60 pound (27 kg) package capable of depths to 300 feet (90 meters) Whether thay are large or small all ROVs are designed ‘to bean underwater extension ofthe plot. Admittedly, ROVs are not as dexterous as divers, bt most perform Undersea tasks without the need for a human to werk on dangerously deep and ‘extended dives. ROVs already hanale offshore oil well maintenarce, search and recovery of lost objects such as aircraft and sunken chips, criminal investigations like cars or bodies dumped into the sea or lakes, underwater archaeology, inepections of huclear reactor piping systems, surveys of piers, and the placement and recovery of oceanographic instruments, As technology advances, ROVa will tackle even more of ‘the tasks once done by dvers and manned submersibles, i 44-1 tI-Li4 co rar jt CLAct LILI IOL IL 4$4-p45-bt Tartar tt‘Note: This an advanced project ‘thatis sultable for ages 12 and up. requires some familiarity with hand tools, soldering and laying ‘out measurements. Younger children should tackle this, aoe es eee beers bd ‘CAUTION: t C I ‘Tools, hot glue guns, soldering irons ‘and melted wax can be dangerous it notused property. Get adult help ‘where necessary. Read warning labels and follow instructions, ‘carefully, e¢pocially when using Instant alue. ‘Although ROVs are sophisticated machines, it is possibly to buld a simple one. The ‘two projects in this chapter have no sensor, euch a6 a camera, but they work well in shallow depths where you can see thet in operation. The first project, called SEAPERCH, is a small ROV that is designed to operate in the bathtub or swimming pool MATERIALS. ‘The Following lot of materials relecte those wehave used in the construction of carler subsea vehicle projects. If certain items are unavailable, see if you can come up with eubstitutes, The design of the frame and controls are only one variation. By following the general principles of submersible conetrction, you can desigh and even improve on the projecta presented here. (See Part 3, Designing Your Own Underwater Project) Glues and Fasteners + atoz. (8 t05 mi) botsle of instant. bond glue or Krazy Glue® (cyanoacrylate) 1+ hot glue gun and glue sticks rage for cleanup newspapers to put under work area tren 6" x 3/16" (15 erm x5 mm) tie wraps (Tyraps®) + 9ix #6 x1/2" (12 mm) stainless steel or brass shect metal screws + six #6 stainless steel washers © three 1* (25 mm) Schedule 40 PVC plastic conduit pipe clamps + black PVC electrical tape Frame ‘© 60" (160 cm) length of V2" (12 mm) Schedule 40 PVC pipe, cut into the following length: ~ owe pieces that are 4 V2" (144mm) ~ two pieces that are 4" (100 mm) - four pieces that are 3" (76 mes)- four pieces that are 2/2" (63 mm) - six pleces that are 11/2" (38 mm) Note Schedule 40 PYC pipe is simply a standard sizeof plumbing pipe There wil bye ome pipe left over to use if you make a mistake. + ten pieces of /2" (12 mm) Schedule 40 PVC 90 degree eons + four pieces of V2" (12mm) Schedule 40 FYC tee's * one 10° (25 om) x 612" (16 cm) sheet of heavy duty plastic hardware cloth or V (6 mm) wire mesh screen + two 4 12" (14 ee) long x 22 2/4" (5B cm) diameter hard closed cell foam fish net floats. These are avaiable at commercial fishing suppliers. You can use Plastic PVC or ABS pipe and make your om feats out of two 2" (6 em) diameter by 10" (25 om) long pieces of PVC pipe with end caps glued on. Figute out a modification to the ROV frame so you can attach them. Electrical ‘+ bo #31 wire nut connectors ‘three 10’ ( m) length of #22 gauge speater wire one 10" m) length of #15 gauge speaker wire one 4x2 1/2" x1 14" (100 x 68 x32 me) plastic electronic project boe tree pieces of 6" (15 em) long #22 or #18 gauge red hookup wire oF equivalent ‘three pieces of 6 (15 cm) ong #22 or #16 gauge black hock up wire or equvalert + three pieces of " (75 om) long #22 oF #18 gauge red hock up wire or equivalent ‘three pieces of " (75 om) long #22 oF #18 gauge black hook up wie or equivalent. rosin core solder + three Double Pole Double Throw with Center OF (DPDT-Center OF} togdleenitchos with a 3 amp rating the power oupply requirement is 6 amps at 12 volts DC or a 12 volts DC lantern dy cll battery. A3 to 6 amp hour lead gel cell with a charger or a series of Nicad batteries is also a good choice because they ae reckaracable. An excellent power source is an old car battery which you might: get from your neighbours or a SET ITE rT t Z IT PVC PIPE WITH END CAPS T 4 TP +S mr a aLPATTIE TPT Tae hts Rta h t-te gett service station, Even though twill no longer start a car, an old battery wil often have erough energy int to pewer an ROY. If you use it with a battery charger, the car battery will get partially echarged co you can utilize i again and again. Thrusters: Follow the instructions on how ta bull a simple thruster to construct these propuloion unit. ‘© three small propellers (The ores used in thio project are 1" (25 mm) diameter gold Plastic model #FP-40, made by Billngs Hobby. You can order these from any habky shop.) 1+ three 12 vole electric motors |#278-256 high peed motors @ 11500 rpm are Used in this design and are avallable at Radio Shack or similar stores) Note: Do hot use Bvolt motors as they are not powerful enough 1+ one package of toilet seal wax (available at hardware stores) # generous dab of petroleum jey (Vaseline*) three plastic 2mm fim canisters Ballast © lead fishing weights, dve weights, or balancing leads for car tires—the exact: weight will be determined by the deplacement of the ROV + Approduct ouch as Dip t® fer coating lead or steal wolghts (optional)rT TOOLS cr ode kon co 1 «pace pers aa + regular lors Nermose ness | 4} side cutters or fush cutters ae «Philips # scronrver or type to match scrove used rH (© drill and drill bite: V4", 1/8", BNG", 3/32", 7/32" b+ harp razor ete L we stpers ht + one handsaw or hack saw o pipe cutter for cating PC pipe BE «mer box neceteary ta gud pie catia yeu ae ung sean) rt #20 sandpaper or Scotch? sors pad bt + ante I + eo ry 1+ ack jo teldng ehuster dng constuction (The canbe ablockotweod 4 or foam wh a VO" hl dein) b ‘© electric frying pan and coffee cup for melting wax to oeal thruster Pours ScaewoRVER, ‘Note: Additional information on tools and how to use them is found in Fart 3, pp. 128-140.“This io a simple way to make a waterproof thruster that works well in shallow (10 feet or 3 meters) fresh water. Over time the thruster may lee, but itis stil a quick, inexpensive way to power 3 emall submersible. Remember that runing the thruster ‘out of water for longer than one minute will cause the shaft seal or hole to become hot and distorted. This causes leaks, Tree units are required for this project. These thrustars can be built to propel other subsea vehicles you may design. The followin instructions are for the SEAPERCH OV project. THRUSTER CONSTRUCTION 1. Working from inside the fle canister, dil a 3/82" role in the center of the bottom. Tis way the hole will nsturaly forma ip outward and hap make the shaft seal aginst water. Note:The hole shouldbe slightly smaller than the motor shaft, 60 |Fyou are using a motor other than those measured here, measure the shaft first. and use a dril bit that is sohtl smaller. 2. Identity the positive and negative terminals on ow the mator. You wil see 3 + and- symbol beside the appropriate terminals, Then solder the 10 foot (8 mi) long #22 gauge twin conductors onto the motor terminal pins, using red or einer for poste an blsck or copper for negative. 3. Test the thruster by attaching the positive and Ween regative leado to the batty. The shaft should tur. I VM, it doesn't, try turning the shaft by hand with the power Vy on If til oesrt wor, try theee possibilities: OE Al — teen Check the battery voltage with a volt meter. I the Volkage is low, use another battery ue FROPEWIER —@ IF you have a power suprly that plug into the wall, check the plug, the conrection® to the terminals an the fuse,* Once you have eliminated these obvious potential problems, you may be dealing with a bad solder connection, a short circuit, or a faulty motor. You can fix a bad ‘solder connection by resoldering the joints. To fx a short circuit, ind the touching uninsulated wires and separate them. Or just replace the moter. 4. Doyou see all the holes in the motor casing? These need to be covered up with black electrical tape, IT IS IMPORTANT THAT ALL THE HOLES BE COVERED PROPERLY OR THE MOLTEN WAX WILL RUN INTO THE MOTOR AND SOLIDIFY. DONT FORGET 10 FUT A DAB OF GLUE WHERE THE SHORT END OF THE SHAFT EMERGES FROM THE MOTOR HOUSING. (00 NOT GLUE THE LONG END.) COVER THE ELECTRICAL TERMINALS WITH HOT GLUE AS WELL. 5. Puta generous dab of pecroleum jelly on the motor shaft: before putting it Inside the fm canister. Vf fp ssssrvens, 6. _Insert-the motor inthe fm canister, pushing the ohaft through the small hole ‘4 TL Sess at the bottom. Center the motor in the canister. eeee 7. Place the motoricanister assembly ina jig to hold it upright, (The i can be a biock of styrofoam with a UB" hole drilled into it) The shaft of the motor gces down into the hole to secure the canister upright for pouring the wax 8. Got ready to seal the motor assembly in wax. Heat water in an electee frying pan. Then place an old coffee cup holding solid wax chunks into the simmering water it ‘the pat. Get help if you need it. Work over newspapers. Carefully pour melted wax bo ‘the film canister until the wie leads are covered. Let stand url sold and coo SAFETY NOTE: Wax melted In this way cannot ‘reach a temperature greater than the boiling point of water. Wax melted directly in @ pot ‘over a stove can got hol enough to catch fre $0 use the boiling water method. 00 NOT uso {2 microwave. Always take care when handling ‘hot wax. Itcan combust f spiled on the, ‘burner. Use.oven mitts to carry the hot cup when pouring wax into the canlstor:CTATE TICE PTAC TT 9, Attach the proper tothe shat. Depending onthe sie of shaft, you may have +7 tocnlarge the shaft hole on the propeller hub by carefully driling i through, Use a Ail slighty smaller than the ohafe dlameter. The prop should fit seugly on the motor shaft, Note: Ifyou are using a model airplane prop, you wil have to cut the blades shorter than they are. Since water ie more dense than a, aleplane prop bades that are to long wll overload the motor For most units, a blade length of 2/8" (2 mm) to V2" (T2 mm) ie good. You may need to experiment a bit to get the optimum length. 10. Dilla V/A hole inthe end cap ofthe caricter. Knot the red and black leads together in a stopper knot, about "from the motor ead connection. This acts a8 a strain let Then thread the wie through the hole nthe cap until you get to the ‘stopper knot. Snap the cap onto the canister. The ehruster Is row watertight and ready for testing 1, Test the thruster by attaching the red and black leads to the battery. The shaft should turn, i tt docent, try helping It out by turning the shaft by hard with ‘the power on fit etl doesn't tum, check the battery voltage, If low, use another battery or increase the voltage by putting tno 6 volt batteries in series to get 12 volt. ifthe shaft still doesn't turn, you elther have a bad solder connection, a faulty motor, or wax has gotten inside the motor through a hole inthe hot glue. Ib very dificult to repair a motor once wax has gotten into it.I is easier and quicker to build a new thruster, taking extra care in sealing the motor with hot glue before adding the wax. LL. T wt I-t4-F + 4-H bie TCT TTT Lob de i 1 cr T F + L L i I r T b + U L i I r T i + L4-Lt 1 Fab t-te + ifthe thruster work, you can now use it to propel a small subsea vehicle ‘ fit iis TT re a TACT ITET ITT Patch toh Reet arCrary ee) SSR TIC R Tete tet Pott d bp Ptah tortor t -Lt4-b ttt J-b4 4b 44-4 toh LI-Li bd it bia g ay h bade et ae ihe | HG ai ul petunia ae aug HUE| Construetion-- | | Pieter | eter eaters ceetny aartascanypetbag i cad Wace | Eset ee prin Nore: eetore ping ae tet + LL seat 6 (se mm ate ‘fo Guue seetony | | FRAME CONSTRUCTION 1. Take the 60" (160 cm ength of V2" (12m) pipe and rub clean aa free of lable, ete. using sandpaper or @ Scotchbite™ pad. Is prepares the pipe for ar, if you use the Seatcheit® pad, adda bit of an abrasive cleaner (the kind for cleoning sinks) and Ile water Here ace thelngche of pices you wl eed ono pleco that are 4172" (4 mn) + ono piece tha are 4” (100 mm) “four peces that are (76 mn) “four peces that are 212 (68 mm) six peces that ae 1/2 (38 mm) 2. Measure and mark your first length of pipe. Note: It ls important to measure ‘and cut one plece of pipe ata time. f you do all the measurements at once, your lengths wil be shore by the distance of the saw cuvor pipe cutter. Do measure twice before making each cut to make eure youve got the right length. 3. After making your cute, smooth all rough edges with sandpaper. 4, When al the pieces are cut and the edges smoothed, put them and the ten ‘elbows and four tees on your work surface, Assemble the frame by following che diagrams in the text. DRY FIT FIRSTI DO NOT GLUE YET. ‘The pipe simply pushes Into the socket of the iting. You may have to twist the Pipe or tap it co make it sess property in the socket. Make sure the pipe is pushed in 185 far a6 \t can go into the fitting, Don't worry abut keeping all the pieces accurately lined up at this pont. A final alignment is done before gluing once the frame is fully put together. In this model che pipes holding the flaate can sither be angled slightly outward or positioned straight up at right angles to the bottom of the frame. This is your choice. Twit and wiggle the frame unt i ls square and all the angled pieces are the ‘same in relation to each other. Check the alignment by standing back and looking‘over from all angles to see if itis square. Take your time and do a careful job. Get. pre TT some help with this step if necessary, ‘CAUTION: Make sure there is good) 5. Once you are satisfied that the frame is squared up, set It-on seme Seicemitercommnareyerrelag | ‘working sothe glue vapor canbe —| nenspapers. Then puton rubber aves to protect your hands from the glue (Gloves ant: Ren alineuccurg and used for dichwashing work just fine.) ‘warning labels on the glue package. | Ising the instant bond glue, ca exe glue into the joints whore the! scleees sre keisttaet ia cron og | Using the instant bond glue, carefully equeeze gl re once where the PVC Gloves ar important og i ‘icting joins with the pipe. The glue should flow evenly into and around the joint. irauaeGu Salen) OUR | Tip: the instant glue is very runry 60 It is best to glue the fitting in an upright hhave trouble with gluing. i position. Wait for a minute forthe glue to harden first before tipping the frame to H ‘glue other fittings. Keep checking the frame's alignment: a6 you Work. Remember, once you apply glue, tis permanent, 6. After the frame has been glued together, aril 1/4" hoes in the frame, 128 shown in the diagram. These wil let water enter and drain aut. Use a clamp or have someone hold the structure while driling, Keep hands and fingers well away from aril site 7. Newt cut-a piece of plastic hardware cloth or wire screening 10° (25 cm) long by 6 12" (16 cm) wide. Use the tie wraps to attach the screen to the bottom of the frame or use hot glue to keep ‘the screen in place. Trim off the excess screen. ‘he screening i used to hold and secure the ballast weights and carry any payload you might want to add, The frame sssembly is now complete Patt pct b4-bt bp pa. I +++ Cij-birracers: ‘CONTROL BOX DINGRAM |_| CONTROL BOX WIRING L 1 Lb roem ke parce | 1, Pace ale tol and materia fom te dct ot on our wrk table r TH] 2th pee and ey thee that adobe eda shown the contrel Box diagram u a ” I 3. Using a 6/6" al bit, make the three switch hols. r Fiona" at ce crs ona ctor les forthe vce, These | 1 Ceator tlc wl proven she avitchen fom tating ove of postion over tro. ! | 5, Using a 52" bi, make the power cable hole and the three holes forthe r Ht esta is y “| 6, Tey fitting the snizches into ther respective mounting hale. If they do rot seat q | propery adjst the ee as needed. Then remove the othe for ng ce is q 4 casero wre them outed u | savor the box rt rm @ iouet = bot ty vows, aon 7. Designate the three rt I cfateomo thruster enteches PORT, ri [Switee STARBOARD, VERTICAL ao in rT the aiagram bd a 8. Run the wires from each T of the thrusters through the rt ‘thre hoes nthe bom, a in Li ‘he alagram, The right wre rr 000 to the PORT ontch, the T Genter tothe VERTICAL, and the lft ana ie to the STARBOARD snitch CONTROL BOX DIAGRAM rikusress soToryr beersTVs bas tenronnar F71|Ne raeSe, i T 9. Te etapa tntin each cod abot sche (8 om) fom the end Sp the dbl wee to the stopper not Po cea se, 10. Study the wiring diagram carchlly. The next step io to bake three 6" (15 om) 1 Hol pce of pote (cher ord) wie and strp about F (25 mm) fom the ends oF each, Step 1 (25 mm) from the negative poner wire, a6 wel 44 © morons Fortine about stripping wires, INSIDE VIEW OF CONTROL BOK PSE ‘soldering, ete. check Part 3, sreey 08 438-440, i corer) | powen surcr o } suwver ©) : -1. Twit all three postive bare wire ends of thruster wire tagether wth the battery positive wire Solder them. Then twist on a #31 wire nut to secure them. Make sure ‘he nut is on G0 Chat no bare wie is showing. Now do the same for the Lnree negative poner wires 12. Take one switch and attach a positive 3° (76 mm) length of hookup wire to the ‘switch, a5 shown on the diagram. OO NOT SOLDER YET. Then do the same with the negative 3° (76 mm) wire. Take care to keep the positive and regative wires in order. 13, Now take one end of one ofthe positive wires from the wre nut and solder it to ‘the switch as in the diagram, Do the same for the negative power wire. Alltheee ‘witches should be wired in this manner. 14, Choose one thruster cable and solder the postive wire to the owitch, ao shown in the diagram. Do the same for the negative thruster wir. Now solder the remaining terminals on the switch, 15. The switch is now wired so that it can reverse the motor. Test it before going ‘any further. To test your thruster’ forwardlreverse snitch, put the enitch in the center off postion, hack up the power cable to the power suprly or battery (posite to positive and negative to negative). Ifyou push the svitch forward, the motor should turn. Keep your fingers clea of the spinning prop. Test the thrusters only briefly out of water. You can put the thruster in the water dit should puch water ‘nay from the canister. Now reverse the direction by pling the ewitch through the cotter off position and down. The prep should push the water n reverse, or toward ‘the thruster canister. If ouccassful, tum the owitch off and dsconnect the power. 16. Mount: the switches in the box as shown in the diagram. Neatly push the wires lithe box an acrew the back cover on. Your conteol boris now conipeteMOUNTING THE THRUSTERS ON THE FRAME 1. The three pipe clamps chould be attached to the frame a shown, These are the ‘thruster mounts. There are two for horizontal and one for vertical. You can angle the horizontal clamps to get a faster turning rate. you want SEAPERCH to travel in a straighter Ine, hve the clamps aligned at right angles to the aft vertical frame, Mark ‘the position of the clamps ard mounting holes with a pencil 2. Using a 3/02" dil bit, make a hole Screw the clamps (on with the #6 x 1/2" (12 mm) screws and washers, 2. Mount the vertical thruster in the center pipe clamp. Use a couple of tie wraps oF tape to temporarily hol It in place, Align it eo that it lsat right angles to the frame. Hot ue in place. 4. Mount the port and starboard thrusters, Hot glue ‘them in place,Tether ‘Tape, hot glue, or tie wrap the three thruster cables ‘together every 1 to 2 inches (25 to 50 mm). This wi make a bundle called a tether. Taping the tether helps keep it neat and out of the props. Ballasting Place weights such a9 bolts, nuts, lead fishing weghto or lea tire weights on the plastic screen of the ‘sub frame, Put on a0 mary 26 needed until SEAPERCH barely oats, Postion the weights 90 the bow ic slightly higher than the ‘ter. Ty diving SEAPERCH Using the vertical thruster. It should go down easily and rise ‘to the surface siomly when the vertical thruster ls off. Once you are satisfied with che hhumber and position of the weights, tie weap or hot glue them to the screen, 6‘Afterall that hard work and careful attention ta directions, youve made a pretty neat little machine. Now comes the fun part: 1. Hook up the power supply or battery to the control box. 2, Here are your control commande: To make SEAPERCH go down, push the vertical switch to the down position. © Tomakeit rise, push the vertical switch to up Easy turn to starboard, turn the port switch co forward, + Easy turn to port, tum the starboard switch to forward ‘+ Easy reverse turn to port, turn the port switch to reverse. ‘+ Easy reverse turn to starboard, tum the starboard ewitch to reverse, ‘© Straight ahead—toth starboard and port switches forward Straight reverse—both starboard and port enitches reverse 1 Quick tur to port, turn starboard switch forward and port switch to reverse. © Quick turn to starboard, tum port switch forward and starboard switch to Challenge “Try auding a pick-up probe to SEAPERCH. Find a plastic rod about 6° (16 cm) long and attach to the bo ofthe ROV. Gt some objects with loop on tham 20 that {ou can tr to thread them onthe plastic rod. The challonge ie to pot SEAPERCH and retrieve objets off the bottom and raise them tothe surfaceSEAFOK ie a eimple but robust ROV thats easy to operate and features both low ‘maintenance and reasonable replacement parts cost. A small rad can be attached to retrieve omall objects underwater. Similar ROY unite are featured as part of several North Ametican science centero, maritime museums and children’s festivals. These popular interactive displays ave both chilren and adults the chance to try thelr skis at ploting an underwater robot. SEAFOX features a frame of Schedule 40 PVC 1/2" (12 mm) pipe. Flotation fe provided by two tubular Floats. Sik thrusters are sed for propulsion and marewering, A ‘tether eupplies controlled power from 2 12 volt DC power source on deck. The controler uses push button switches to control the thrusters. ‘This ROV can operate to a 33 foot (10 meter) depth and works well ina owimming pool or off a dock. SEAFOKis a slightly more expensive project because of the cost of ite six mall bilge pump but if built and handled with care, thie underwater robot can last for years. MATERIALS ‘The folowing list of materials is based on test construction of SEAFO. If certain items are unavailable, try substitutes. The designs for the frame and controls are only one variation, By folowing the general principles of eubmersible construction (see Part 3), you can desigh and even improve on the designs presented here. Glues And Fasteners ‘atoz, (3 £055 ml) bottle of Instant bond glue or Krazy Glue® (cyanoacrylate) hot glue gun ard glue ticks rage for cleanup ewspapers to pub under work area 2x #6 x 1/2" (125 mm) stainless steel or brass sheet metal screws oi #6" stainlees steel washers ‘twenty five 6x 3/16" (15 cm x5 mm) te wraps one package tollet ceal wax (availabe at hardware stores) ‘small bottle PVC cementFloats © one 3x2 1/2" (76x 65 me) length of Schedule 40 PVC sewer pipe cut into two lengths + two piecee 3" (76 mm) PVC end capo to fit sewer pipe Frame + 12'(.6m) of v2" (12 mm) Schedule 40 PYC pipe cut into the folowing lengths + twenty pieces that are 5" (127 mm) (for ROY frame) = two 12" (BO om) lengths (for thruster ard support) Note: Schedule 40 FYC pipe is simply a standard slze of plumbira pipe. You wil have some pipe leftover after the cuts to use it you make a mistake, + cight pieces of V2" (12 mm) Schedule 40 PVC 20 degree elbows ‘© eight pieces of U2" (12 mm) Schedule 40 FYC tees © four 2" (12 mm) PVC pipe clamps Pumps and Tether ‘© 8ixB00 gallons. (gph) Rue bilge pumps © two 412" x2 V2" x 11/4" 100 x 63 x31.7 mm) place project boxes. Note: ‘These wil be the termination cans for the tether. + one terminal strip with 8 conection terminal, Note: There are diffrent sizes and types so be sure to get one that its into your project box ‘+ ten20 (6 m) lengths of CM #24 ANG shielded cable, 129985, with a minimum oF 8 conductors or equivalent This cable has to be flexible and have a minimurt wire thickncoe of #24 qauae per conductor. #22 OR #20 ie even better but may hhave les flexi Ifthe conductors in the cable are too small, the resistance inthe cable willlower the voltage at the motor. This wll result in lowered performance or damage to the thrusters. f you make the tether longer than 20 feet, you wl definitely need to increase the conductor si 210° Gm) length of black #18 hookup wire 210° @m) length of red #18 hookup wire one package of toilet seal wax RHA-Rtdokt Lvaaet—Lcra 4h Eades ea i i al i i loves when working with it and ‘coat the pieces you use with Dip n® rubberized coating. Wash your hhands well after handling lead weights. ' t i I L L Tt 4 | i ria bea 44 Lid it rat ial Prd rt Lid Lt I al TI crt bts tt aes el (aia (ea faglial hata bi Lt a a Eel cr TT RES htt ey elie 20 #12" 12" (80 cm x0 cm) minimum square of plastic grid material. This can be cut from the battom of a plastic bread crate. Ask your lacal grocery store if you can purchase one from them. The bottom ofa plastic milk crate Is aloo 3 good arid. A #16 oF #4 gauge galvanized steel 1/4" (6B mm) wire mesh ecreen Is excellent substitute © 1B" (3 mm) thick PVC oF Plexiglas® sheet, 5" x G" (13:5 x 15 om) for vertical nuster Diack: “+ hot glue, chewing gum or plasticene for plugging holes in termination cans. Ballast ‘© ed fiching weights, dive weights, or balancing leads for car tres (number and weight to be determined by displacement of underwater vehicle) 1+ Steel isa good substitute for lead welghts. Stairleso steel io beet. Ifyou are hot using stainless steel, coat the steal weights with Dip It® to prevent rusting, + one ca of Dip t® for costing lead or etecl weights (optional. Control Panel © one large project box for control panel + six push button on/off switches that are rated for 5 amps or more © one fuse holder to panel mount inline, ora fuse block for 1 VA" Vat (21x6 mm) AG type fuse ‘one 10 amp AG type fuse ‘ten feet (8 mi) of #18 or #16 hook-up wire. Note: Get different colors or develop a system for marking the wires. ‘© one terminal strip having 8 connection terminals, Power Supply ‘The minimum power supply requirement ls 8 amps at 12 volt. A 10 amp DC supply io preferred, Altematively a small car battery ard battery charger wil supply the required power. C§HOHHEHHHOHHSOGHHHHHSHHOHESBEBBHSHBEBCUP TPE T TTT Te Toe Rept Rt hth tt htt ht Pt ttt bat bd pe SOLDERING IRON, £ a Ss f3 ee : $2 8.8 38 a bo deg, fF RE uaitte ya HED gag ceberiiis 2 BSRSEt GEESFRAME CONSTRUCTION 1. Read all instructions carefully before starting to make sure you understand the procedures! 2. Prepare the 12 foot (8:6 m) length of 1/2" (12 mm) pipe for alueing by rubbing it Clean with the Seotchbrite® pad or sandpaper. f you use the Scotchbrite®, add a bit oF abracive cleancor (tho kid for cloaning sinko) and some water. This easily removes any printed labels, et. 3. Using # back saw and miter box or plumbers pipe cutter, prepare to cut the W2" (12mm) PVC pipe into twenty 5" (127 mm) lengths. Note: Iti important to measure land cut one piece at time 60 that the pleces are the exact length. I you mark off lll the pieces first and then cut them, each piece after the frst one will be short by the width ofthe oaw cut. So measure twice before you cut to make sure youve got exactly the right length, Label the length on each pice with a pencil 4, After eawing the lengths, smooth all the rough edges with sandpaper. 5, Lay out all che 5" (127 men) x 1/2" (12 mm) PYC pipe on the workbench, Layout all the PVC elbows and tees, Put all the 1/2" (12 mm) pipe pieces and all the fittings (0 etbows and 4 tees) on the table. Assemble the frame as shown inthe diagrams, DO NOT GLUE! DRY FIT ONLY. ‘Note: When dryfitting, simply push the pipe into the eacket ofthe fitting. You may hhave to twist or tap the pipe to make It seat properly in the secket. Make sure the pipe i pushed in a9 fac as ican go into the iting, Don't worry about keeping all the pleces accurately aligned at this point, A final allgrment is done once the frame is fully pur together before gluing. Choose tno elbows and one tee and two lenathe of pipe. Dry fit two pipes into the tee 128 shown in the picture, Then fir the two elbows into the pipe ends, turning them so ‘they are flat on the table and the tee ls perpendicular to them. Make four of these pieces. 6. Now assemble the bottom frame, Select four 5" (127 mm) pieces of pipe and two ‘tees. Fit the two pipe places into the ends of the elbow. Then fit the tee Into the endsof the ofthe pipes. Align the sections eo that the tees are perpendicular to the bows and pointing upward. Do not glue yet. 7. Repeat steps 2 thru for the upper frame. The upper and lower sections are Identical. & Now put the remaining four pipe sections Into the tees of the bottom frame, Take the upper frame and ft it onto the uprights of the bottom frame 9. Now you're ready for the firal alignment of the assembled frame. Make sure you push all pipe firmly into the sackets of the fittings. Twist and wiggle the frame until ic is square and all the pieces are the same in relation to each other. Get some help to <0 this if you need it. Take your time and do a careful job, Remember, gluing is permanent and iis dificult to correct any mistakes. Once you think the have the final agement, double check the frame by standing back and looking it over from all angles. It helps to have someone else to look at It, 100, because they may see something you have misced. 10. Place the frame on the newspaper and put on your rubber gloves. Using the instant glue (such as Krazy Glue®), carefully squeeze glue into each joint where the FV fitting joins with the pipe. When you insert the pipe, the glue should flow evenly Into and around the joint. Do this for all the joints on the frame, Tip: The instant glue is very runry 50 itis best to glue Aittings in the upright position. Wait a minute forthe glue to harden before tipping the frame to glue other fevings, Remember to keep checking the frame's alignment a9 you proceed, 1 Drill 74" holes in the frame ao shown in the dlagram on page BA. These let water enter and drain so the frame pipes are not buoyant PVC GLUING “Pu yas | | wins eve cement wrt STANT GLUE torpor 4b 44-4 Lis ob ba D Jee ee PCRS Rte hte ttc ttt 44-b44-b4 ba tit Pract boop tbePUMPS AND TETHER ASSEMBLY ies For curr AND, | 1 en eta plac or Pils, be sre ower eafey gases Note that ||! —BRILLING PLEKIGLAS® | pas sign aay sry. i eeronae 2 Cutout the plastic grid to a" x11" (275 x275 em) size or whatever yb ceewome | tt 5. Next construct a plastic bracket to hold the vertical thrusters, The dimensions T SARC tr W ourutonare ofa ase sot thon sonsnoomy Yor aac pach ieee an alternative design ‘Note that the lower bue base section of the pumps ceparates from the white and red section, This s to facilitate mounting a8 well as removing any debris that might {get trapped in the impeller. Remove these baces to easily position the pumps ard dri holes to fasten them to a grid or bracket. Mount two pumps on the bracket as shown, Put the vertical thruster assembly aside while you position the other thrusters. PLENIGLAS?OR PVC PLASTIC inte | ee Gena} Houes RULED Dane Fok 3)" woves pais Sceeus M Bae. 10 Maton aR FoR “We WRAP FASTENERSCle 2 g ¥ 5 2 2 go 3 3g § es 5 23 “ 88 in the diagram. Use elther the ecrews ‘that come with the pumps or te wraps. The position of the thrusters in relation ‘to each other affects how quickly the SEAFOX will rotate (Sen illustration fr ‘your options.) 3. Position and fasten the remaiving ‘our pumps on the plastic grid ao shown sh tit S Lidge titi 2 Le e ier 2 eradgriy eres eel Zz £ my Heb tsb JR +4-b 45+ 45+ SUL ILL SLL dbg 35 zs 22 se E83 Take the vertical thruster assembly and fasten it on the grid 90 that it Ie close to the center. (See ilustration,) Now you are ready to mount and wire the ‘termination cans (small project box) and connect the tether to the pumps 4TERMINATION CAN ASSEMBLY “Termination can" io a term used to describe a water and pressure proof electical junction bor. tt allows a convenient connection of the tether to the pump wires. On ‘his project there are two cans: 1 ‘the main can where the positive wire from the pumps and tether jin up, and ‘the ground can where the negative or ground wires from the pump join up. ‘After the wiring ts completed, the cans are filed with hot wax to waterproof them. This seals all the conductors but allows fairy easy access to them in the future if 2. I 1 t PRISE PTS Tt they eed reat VERTICAL THRUSTER-—/\\ “i MEERA RU Zeon wee [WIRING RUNS, || ta futons ate Moved uy I q ia FP) exoune FS eaten. TTS can Samustek L ‘i Cin i r MUULEAIULUL | I uN CAN FUNC ap) samc s Heb y SY { Kx cL Te TTT aw S rv Stee Wiring the Main (Positive) Can 41. Take one of the project boxes and dei holes in it as ilustrated. The hole sizes are approximately V6" (3 mm) except for the tether operrg which is larger. The tie wrap holes ‘are approximately 2/16" (5 mm). The trick for determing the wiring hole size is to measure the wire diameter and use that lz dril bit to make the hoe; this should ensure that the wire passes snugly through the canister. The size of the tether hole wil depend on the diameter of the cable you have chosen. 2, Fasten the terminal etrip in the main can with hot glue or ‘screws, as illustrated on page 89. 3. Now tie wrap the can to the plastic grid, You will have to position Ibwhere It fits best. (See llustration this page .) 4. Plug the tie wrap holes with hot glue to prevent the hot sealing wax from running out. 5. Label the pumps as inthe ilustration on page 89. Taking ‘care to know which positive wire is which, run the positive wire from each of the pumps neatly around to the main can. Te wrap the wires to the grid or ta each other.©. Push the positive pump wires through the holes into the main can and label the Tw Phrvter paps Rhett oe ot Staton) + sPAGemansrat) byt 1 Retro ag Cl eet + £5 (Forward Starboard) + Down cri Keep track of which wire goes to which thruster by labeling or diagramming. or and connect it-to the terminal strip as shown, Keep the runs neat. Litt 14 Piceeamnneneratcand Pieaeatimtene 1M aa Hetseaetioria en WIRING DIAGRAM FoR ! MAIN (Positive) CAN Poserve teas to Erne a ees OO => vine rues em | fackarttte =a ret eee Lt1B. Cut about 24" (60 om) of the black hook up wire and run it through the ground hole and connect It to the terminal stip. 2, Strip back about 8° (20 cm) of the tether cable's insulating jacket, Push it ‘hrough the hole and use a tie wrap for strain reli. 10. Now sort out the wires of the tether. You wil have to decide which wire color is to be used for each pump. I is recommended that the black one be used as the {ground Write down your color code. Note: If you have more conductors than required for the pumps, connect all the spare wires to the ground terminal in the main can. This reduces the resistance of the ground wire and thus decreases any voltage drops across the pump leads. ln other words, the punips run better: 1 Keeping the runs neat, take the first wire and connect it to the first terminal you have chosen. You may have to trim off excess length to fit i allin the can Remember not to cut It to0 short. 12. Complete the witing as shown in he ilustration on page 89. 18, Double check your work 14, lPnecessaty, use hat glue to plug around the wires as they enter the main can.Wiring the Negative Termination Gan 1. Take the remaining project box and drill holes in it as ilustrated, The hole sizes are approximately V6" (3 mm). The tie wrap holes are 3/16"(6 mm). Te: The trick Ie to measure the wire dameter and dril that diameter so it passes shugly through, 2. Now tie wrap the can to the plastic grid. Locate It in the postion it seems to fit best, asilustrated on page BD, 2. Use hot glue to plug the tie wrap holes. This wil prevent NEGATIVE TERMINATION CONTACTS the hot sealing wax from runing out, 4 Run the negative wires ‘rom the pumps to the ground can. You do not have to label ‘them since they all share a common ground wire. Push ‘them through the holes in the ground can, 5. Run the ground wire from ‘the main can through its hole CD ster Back curaron! oN ALL wines AT Gast ito 2" (0mm) \ fur ace wats ose on soubee 6. Now join the grounds, as how in the diagram, and solder them together Mer then gt ues mre 7. necessary, use hot glue (OR 10 Fit GROUND WIRES around the wires a5 they enter FRom AL © punt, the can to keep the hot wax from running out, 8. Now that the pump wring is complete, you can fasten the twa 12" (30 cm) support struts to the bottom of the grid ao shown in the llustration on page 25. ‘You can use tie wraps, hot glue or serew thom on,CONTROL PANEL ASSEMBLY ‘The control panel canbe built in many ways. Essentially it i 3 box made of wood, aluminum sheet metal or plastic. A plastic feed container of suitable size can also be used and is probably the least expensive. Ancther option isto purchase a project box from Radio Shack or other electronic supplier. The control box presented here fs ‘generic but it hows how the wiring is done. ‘The switches used are push button onloff switches. They should have a rating of at least five amps. If you want a robust owitch, Happ makes a rice one. They are the cones used in video game machines and are available from amusement game wholessle suppers. Other control schemes such ao joysticks could be used, but this Is the simplest. WIRING THE CONTROL BOX In thie project It fs up to you to decide iF you want to Golder the wires to the switches, There are altemative connection methods such as crimps and the solderlese connectors used in automobile electrical systems. The choice really depends on the type of components you have used. 1. Drill and mount the 6b switches. The layout ilustrated isa proven arrangement. 2. Label the enitches as shown in the diagram: AS (Aft Starboard) AP (Aft Port) FS (Forward Starboard) FP (Forward Port) ur Down Iie important to do this correctly, otherwise the switches will operate the wrong pumps. 3. Drill and mount the terminal strip. Do the same for the fuse holder: 4. Drillthe holes for the tether and 12 volt DC power cable 5, Bring the power cable and tether into the contral box. Remember to use a strain reli (either ate wrap, a knot in the wie, or a commercially available one from an lectronic supply store). Make sure there is enough slack inside the box. Usually 2ei in aoa pa awa os To alee Teac a RES h tht ttt tt PIR thts beso bap -b44 hace tt {Ee e8eeeeeeneeoeeesesI L Safety Tip: Ground Fault Indicator (GF!) I youare usingan AC to DC power supply, make sure you plug it into a Gri-protected circuit. Most newer hhouses have a GFI circuit in al ‘bathroom or outdoor electrical plugs. The GF! automatically cuts ower tothe plug, preventing leerie shock, an appliance (such {a a hairdryer) or your power supply {gets wet. If youdon'thave a GFI, You can buy one at any hardware Store Find an experienced person tonolp you make up a speck ‘extension cordusing the GFT plug. (22cm) is suicent, but it depends on the size of the box and the placement of the Switches and terminal strip. 6. Strip back the tether cable jacket 6 to 9 (15 to 22 om) and sort out the wires, based an the color code you have selected, Using theilustration ae a auide, connect: the wires to the proper enitches, If you have extra tather wires, connect these to the ‘ground terminal of the strip. 7. Wire in the paver cord. Connect the positive lead to the fuse first. The negative lead can be connected directly to the terminal block. The fuse Is important because it prevento a short circuit from starting a fire in your wiring. B. Double check your work. 8. Now you are ready to test the circuit. Connect the positive and negative leads ‘of the power cord ta the postive and negative posts of the battery or power upply. 10. With the power on visually check to see if there are ary problems. Usually 3 hort circutt wil blow the fuse. Alao check for eigns of malting wires or the smell of burning insulation. No pumps should be on at: this point any are, you may have a wiring error. f that should happen, disconnect the battery and check your wiring. A Switch may have otuck, Once all seems wel, proceed to the next stage of the test, 1 Press one switch at a time and lsten for its pump to turn on. Press each one in ‘tar. Now press Duo owit-ches at the same time. Press each two in turn. Next press ‘three, and then four, and so on url ll pumps are on at the eame time. ‘Note: Do not run the pumps out of water for longer than one minute. The waterproof ‘shaftseals on the pumps are water cooled and lubricated, so they will heat up and ‘melt if run to0 long inthe a, This wil cause them to leak 12. Wall the pumps are working, check to 9¢e that the AS pump comes on when you push the AS snitch. Run the same check for all the pumps fa pump and switch do hot match, you may have to correct the wiring, If there fs enough slack in the wires, ‘Sometimes you can just remove the wired witch from ite place on the control panel ‘and ewap places with another switch, 13, everything checks out, disconnect the battery. CO oo oe TDWATERPROOFING THE TERMINATION CANS 1. Tomelt the wax, you can either use a big pot of hot water heated on a stove or an electric frypan filed midway with water. Do net use a microwave. Place an old Coffee cup or tin can fled with soli wax chunks into the hot water. Walt fori to become liquid ‘Note: Wax melted inthis way cannot reach a temperature greater than the boiling point of water: It is dangerous to matt wax directly i a pot over a stove, because I attains a higher temperature and may catch fre Use oven mitts or a pot holder when carrying or hardling hot wax. Get help you need i 2 Carefully pour meted wax into both termination cans until the wires are completely covered. Let stand until soli and cooled. Fasten down the lid on each box FLOATS CONSTRUCTION AND ATTACHMENT 1. Prepare the 3" (76 mm) pipe for aluing by rubbing ie clean with the Scotchbrite® pad or sandpaper. if you use the Scatchbrite®, add a bit of abrasive cleanser (the kind for cleaning sinks) ard some water. Tis easly removes any printed labels, ete: 2. Measure the inside length of the top part of the frame to figure the overall dimension for the floats. (See ilustration.} The completed floats will have to ft inside ‘thio measurement, with the endcaps snug against the pipe frame. The actual measurement wil depend on the size of end caps you get and how they fit on the Pip. 3. Tostart with, cut the 3" (76 mm) pipe half an inch shorter than the lengeh you hhave Just measured. Dry fit the end capo on the pipe ard eee f the float wil ft: inside ‘the frame, You can do some adjusting by twisting the end capa back and forth on the pipe I the float is stil too lang to ft inside the frame, you miay even need ta eut the pipe abit shorter. But remember, you want the floats to ft smugly against the pipe 150 there is no gap between the clamps and the end caps, (See ilustration,) 4. Once you have the right size and rug fit for the floats, draw a pencil ine on the 23 (76 mm) pipe that marks where the end caps should come, Remove the caps, 5. Get ready to glue by covering work ares with newspaper and putting on rubber gloves. Make oure there ls goad ventilation in the room ASPET e Toe NC I IPE Lanes CLAME GLUED B Fire ‘ita pe GLUE$4-FEA-r + Caution: Make sure there is lots of fresh ai in theroom so the glue the instructions on any product label before using it. Instant glue has special warning tabels—Dbe sure to,read them! Wear rubber gloves. because this type of adhesive 6. Working on one end at a time, carefully aply the PYC cement on the sewer pipe, {going up to the ine you have drawn. Also apply cement to the inside of the end cap. Now push the end cap on the pipe, making sure it stops at the lie. Wipe off exceos cement with ara or paper towel. Repeat this procedure for gluing the remaining end caps. This should create two watertight Hosts. 7. Insert one float i the top frame and mark where you want to position the two 112! (12 mm) PVC pipe clanipa to hold tho Float, 8. Then cement the clamps to the float. Hold the clamp and pipe url it dries. It may take three or four minutes before the assembly can be moved, Do both ends and ‘then the remaining float. Let the frameiMoat assembly dry for atleast half an hour before putting it in water. Note: This iting ls kind of tricky co do but ft really helps If the fiat Pts snugly against the frame. You may want to experiment with other types of floats and attachments. ATTACHING THE THRUSTER GRID TO THE FRAME 1. Using tie wraps, position the frame with floats over the plastic grid, Attach ‘the grid to the bottom of the frame as lustrated. 2, Tiewrap the tether to the frame so ‘leads through the upper frame struts. You may want to experiment with positioning the tether once SEAFOK isin ‘the water to order ta minimize drag and ‘angling Nore ua ae fuonts Sinema Fem CLARITY, SO COCHHSEHOHEHOHOTSOBOEOONBDTATCTIT OTe COMPLETED. SEAFOK Roveaten > ‘BuoraNcy HOW TO BALLAST AND TRIM THE ROV UNIT. 41. Place SEAFOKin at least 12" (30 cm) of water. Shake the frame to dislodge ‘trapped air bubbles. Does the ROY sink or float? 2. Thevehicle should float rather than sink. However, other factors such as heavier bilge pumps or frame design using more pipes and fittings may have charged this. IF SEAFOK sinks, you wll have to add more fletation boforo the ballacting can be Completed. One solution is to increase the length or diameter of the Flotation tubes. Or you might add a couple of fishing lost 3. Once SEAFOX floats property, try operating the down thruster. I the vehicle ‘descends easily and then floate slowly back to the surface when the down thruster is off, itp correctly ballasted.IFit ie not sinking or is sinking with cffculy, then a ballast weight should be attached. Experiment to ind the proper amount of weight to ade. 4. Totrim or balance SEAFOX, experiment with moving the ballast weights either ‘towards the bow or aftin the stern area. On an ROY of this size, oly small changes in position and weight are required ta achieve proper ballasting. Once you are Satisfied that SEAFOK is balanced fairly level, attach any adcltional weights required ‘to the frame, (For more information, ee 'What Works, What Won't, page 131 and 153.) TETHER Inthe water, the amount of tether affects the ROV's trim, ballast and turing, In order to minimize these effects and have the least problems with entanglement, do ‘the Following: ‘+ Use only the length of tether necessary to enable the vehicle to reach the furthermost distance you want to cover without strain ‘sua float on the tether to the depth SEAFOXis operating, This takes the eight of the excess tether off the vehicle. (Bee ilustration on page 99.)PILOTING TIPS FOR OPERATING THE SEAFOX ROV The SEAFOX ROY has ok thrusters which are tured onan of by the sx nites on the control panel. The vertical thrusters are operated by anltches onthe sde ofthe Conte bo. ping ove oor etches mconbnation ith each ther, the ‘etic can be moved in these rection: uripown FORWAROIREVEROE TURN RIGHT FORWARO/TURN LEFT FORWARD TURN RIGHT REVERSE TURN LEFT REVERSE ‘Meer you gt experienced at the various dections each aitch or combination of tutches produce, ty moving an object fom one place to another. Or you can istzach a platic rod or probe to the frame and ty plting up an object (Bee iustraton) Te a fun way co practice control and get realy good at ploting SEAFOX ee Bea / [romeROUTINE THRUSTER MAINTENANCE Although SEAFOX.an be left in the water for extended periods of time, the thrusters should be tested for leaks by noting the resistance of the motor ‘windings using a volt-ohm-meter. This can be done through the termina strip in the control box. [Another sign af water in the thruster may be a reduction of thrustor failure of the thruster. However, a thruster may continuo to operate even if flooded with Aroshwater. REPLACING A THRUSTER Parts required: ‘500 gallonyhour (gph) Rule® bilge pump toilet wax seal (for sealing termination canisters) ‘soldering gun and solder ‘heat gun ‘tie wraps (Tyraps® ) eat shrink PROCEDURE 4, Remove the screen and its thrusters from the frame by cutting only the necessary te wraps. (Don't cutoff the thrusters). 2. Open both termination cans. These are filed with tollet bow wax. Carefully ‘scoop this wax out, exposing the terminal strips. ‘3. Now trace the defective thruster unit's wires to both termination canisters, 's0 you know which colored wires to remove. Disconnect the leads from the efective thruster and remove the wires from the termination canisters. 4, _ Next, remove only the upper portion of the defective thruster from its base ‘and replace it with a new one. ‘5. Runnew thruster wires through the openings ofthe original leads and reconnect them. Attach your power supply and test these connections. 16. Now you are ready tore-seal the conductors with melted wax. Pour itinto, ‘the canisters unl the terminal strips are covered. Lett cool. 7. Replace termination canister covers and tle wrap leads. De S9OLHSSHSSHSHOSHHHSSHHHHOHHSSESGDesigning Your Own Underwater Project Every undersea project starts in the Imagination. But how do you go from ‘dream to's successful design? And how do you build it? This section gives you the basics: + MAKING APLAN—a step-by-step process to take you from dream to realty + WHAT WORKS, WHAT WON'T ‘an explanation of the baste principles of physies that affectall submersible structures, including 10 rules to Consider if your submersible is going towork + CONSTRUCTION TIPS—good ‘advice and suggestions so you don’t hhavetolearn tal thehard way ‘+ USEFUL FACTS—information, {ables of measurement and other helpful calculations02 BEGINNING WITH A DREAM Every undersea projet begins in someones imagination ‘© Jacques Cousteau dreamed of swimming free asa fish in the ocean. Eventually he perfected the modern ecuba regulator, along with Emile Gagnar, ‘+ Ava boy, Bob Ballard was a member of a SeaRover troop and listened to tales of {quest speakers who were famous undersea explorers. AS an adult, he used a deep 2ea ‘submersible to explore the final resting place of the Tita ‘+ Asa young man, subsea engineer Gavril Morar fought against great oddo to achieve his dream of constructing an undersea habitat. # Asa boy, Dr Joe Macinnes was seduced by the mystery of what lay under the surface of the water. As an adult, he combined his medical career with this fascination, developing dving medicine and oafety protocols for diver You may be drearing your own dreams of underwater exploration. Who knows, one day ‘you may even discover a new concept orient a machine that wil revolutionize Subsea technology! But frst-you have to learn the basics of underwater design. Sub design is a challenging blend of physics, technology and imagination. The practical information in this section will help you design your own small underwater Vehicle or habitat for a science fair or home project. ‘These projects are based on accessible “hardware store" techroloay. For simplicity, very little math io used, and the physical principles are explained in terms of how they relate to an underwater vehicle, Although the guidelines can apply to any project you care to tackle, the SEAPERCH ROY project is given as an example.FROM DREAM TO PLAN Okay, you have the dream, That's the eaoy part. But no design can actually be bul Unless you also have a plan. The purpose of ary plan is to guide the design and implementation of the vehicle construction, So, here's your first cask: Define the overall objective(s) first. ‘An objective io what you want: to do. This can be a broad statement, but ft needs some direction, too, For example, when US, President Kennedy stated that the United States would put a man on the moon before 1970, he was giving a project objective. 160eeee —— SEAPERCH example The overall objective isto design a small underwater vehicle that can be used ina bathtub or poo. tt hae to be simple to construct from parts easly available in local hardware and hobby stores. It should also teach the builder the basics of ROY eperation and design. it should be simple, strong and fun to operate. CHECKING IT OUT ‘Before you plunge in and start building your dream, you need to de some research. Find out if anyone has ever built such an idea before. ‘The saying “Why re-invent the wheel” really encourages you to build on the work thers have done rather than duplicating it. In fact, learn from the work of others Ip the reason techrology progresses. 0 do your homework and find out who has done sinilar work. Check out reference books in the library lookig up general topics ouch as eubmarine, torpedo, diving, ‘oceanography, underwater, and cubmersilee Try the same topice on the Internet. ‘Sometimes you can find info on a particular underwater raft. For example, the early ‘steam-powered oubmarine Resurgum has its own web page. You can also talk to or e-mail others who have worked in the Feld, You may find that your idea is original. Or 103 eeeeceseesecenseeegee{you may just want to learn how to do something by folowing someone else's desig. This isa legitimate objective and shouldbe included in your plan. Based on your research, re-write your objectives for the project. SEAPERCH example: Background research shows that no omall ROV exists that can be easily built and that will funetion as an educational model. This willbe a good project todo, HOW MUCH MONEY IS AVAILABLE? Most projecto are limited by firances—that's realty. So the challenge isto design a vehicle that accomplishes your objectives and still stays within your budget. Tis is often an extremly difficult aspect of a project. So, Set an expenditure limit. This limit is only a quide and may have to be changed as the project develops. But It Io important to start with this goal in place. It helps you in selecting material, Components and fabrication shops for the project. it may also encourage you to ‘think of other ways of building the vehicle that: might. be simpler and cheaper. ‘SEAPERCH example: The it for this project wil be $40 i materials and components. Tie amount has to inchide costs for fabrication and assembly, but it. does not include tools THE CONCEPTUAL DESIGN ‘A conceptual design is an attempt to answer the question “How wil this be done™ President Kennedy's objective statement of putting a man on the moon didn't say how it was to be done. The answer to that question required a mult-bllon dolarNAGA effort which launched a manned racket to the moon and returned the crew safely Expand the objectives) to a conceptual design. Note that the conceptual design is only the frst plan you do, not the final ane. Start by asking these questions + How can this be done? + What can be used for this? + Does this follow she orginal objectives? Also make a drawing of what you want the vehicle o project to look tik, SEAPERCH examples © This ROV should be constructed from plastics and be small enough to operate Jn a bachtub, # The thrusters can be made from motors and propellers available from a hobby ‘shop. Waterproof the thrusters simply, without machining a special pressure proof housing 1 Floats can be made of pressure resistant foam. 1 The ROV should be able to dive to 10 feet (3 meters), 1 Ie should be powered ty 12voles, | # A.cet of controle should be able to reverse the motors. The motors should be able t0 operate alone or In pairs The vehicle's tether should be fewble, ight and strong, The ROV has to be powerful and large enough to pull this tether The ROV should be fairly quick to make and fun to plot Notice that your plan is starting to get more detailed. Does your conceptual design stil follow your orginal objectives and budget? i { L L 1 T L 44-bd 4b t-ht-ht—h ts rapt IPNow ask the same questions of every part of the conceptual plan. Then ask an additional question: Where can the parts be found? ‘SEAPERCH example: «How can this be done? Answer by using standard PVC plumbing pipe and fctings. 1+ What can this be used for? Answer: the frame # Where can the parts be found? Answer at a plumbing or hardware store. 1+ Does this meet the original objective? Yes, parts are easy to buy and build oe DESIGN SPECIFICATIONS or “SPECS” {The newt stage ofthe process is called design specifications and it involves selecting materiale based on the physical elements and principles that impact subsea craft. 80, List the project's design specifications based on a consideration of physical elements and laws. ‘These principles of physics are detailed in the "What Works, What Won't section that begino on page 108. ‘SEAPERCH example: Design Specifications - © Depth Limit: 10 feet (3.3 meters) ‘© Structure: Schedule 40 PYC pipe frame ana fittings Sie: 12" 12"x 6" (BOcm x BOem x tem) 1 Weights in aie 2 Ibs (1g) «¢ Ballast: lead or steel weights attached to screen, two foam fish net float with 2 ibe of if (Ikg) approx. Ballast ls slightly positive and a vertical thruster is Used to dive and ascend. eoeseecesssooeossooseoeossoessoneesseFoner: volt DC poner source at 4 amps ether rom a car battery or ACIOC poner supply 4 Endurance united since powers supple from the surface through a tether + Contra three Doble Foe Double Throw itches (OFOT) Navigation by eight + ropulsion thre 12 ole DC motors ina fm canister housing turing 1 (25cm) propelers BUILD, TEST and REVISE ‘Moat people think building a submersible i the main part of thelr project, but ie is really only one etep. And once you have i constructed, you wil want to run various ‘teste to see iF your project functions as you thought ft would After you have finished building your project, test its design and performance underwater. Evaluate these results, based on your original objectives and budget, and make revisions as needed, Sometimes the most interesting results come from projects that: don't work. So if you have problems, ether try to sole them sa the project will work or consider how you can adapt the project. Either way, there is plrty to be learnedlHere are ten basic rules to consider in designing a submersible. You will e quickly figure out that creating any urderwater vehicle is an exercise in « ‘compromise. Often one aspect of the design Is sacrificed to achieve another. 4. WATER PRESSURE IS ALWAYS THERE. 2. ASTRUCTURE KEEPS IT ALL TOGETHER. 3, BIGGER ISN'T NECESSARILY BETTER. 4, A SUBMERSIBLE SHOULD FLOAT BEFORE IT IS BALLASTED. ‘5. THE WEIGHT ALWAYS ENDS UP BELOW THE FLOATS. 6 7. 8 ‘40.Rules For (Designin A Sub | |. MOVING BALLAST WEIGHTS TILTS THE SUB. . ANY SUBMERSIBLE HAS TO BE ABLE TO MOVE. . A SUB NEEDS SOME KIND OF ENERGY SOURCE. 9. YOU HAVE TO BE ABLE TO CONTROL THE POWER. 10. IT'S IMPORTANT TO NAVIGATE THE SUB. ‘What does all this mean? Well, let's take a closer look at the physical principles behind each of these rules. Rule 1. WATER PRESSURE IS ALWAYS THERE. Presoure always has to be considered when desiring a submersible because the structure has to withstand the tremendous force exerted on any submerged object. ‘You can even feel this water pressure on your ears when you dive to the bottom of a deep pool. What: causes water pressure? Water pressure is the result of the liquid being pulled toward the center of the earth by gravity. The consequence is that things have weight. And when thingo weigh ‘something, they exert a pressure, Even liquids and gases ouch as al are Influenced by aravity, The atmosphere we breathe has welght. At sea level this amount of weight is called one atmosphere and i, infact, the standard to which water pressure is compared, SoesCooeseooeoagnnenD(‘The Weight of Water Itis hard to think of water as having weight but it does. For example, try filing a bucket with water and lifting It on to a scale. It i heavy! Infact, a one cubic foot Container of freshwater weighs 62.4 lo. (One liter of water weighs 1k) ‘At oea level the weight of aris 4 pounds per square inch (P61) oF one atmosphere fair presoure. (1 atmosphere = 10,000 kglaq mever) ‘Ata depth of 28 feet (10 meters), water preseure fe 26 lbs per square inch. For every additional 38 feet (10 meters) you descend, the water pressure increases by ‘one atmosphere. So you can sec how depth and pressure are related, This system of measurement is called absolute pressure. Divero measure pressure differently. They set their pressure gauges to show zero (instead of 14 pounds) at sea level, s0 a depth of 33 feet (IO meters) shows on the gauge as one atmosphere, This is called gauge pressure. ABSOLUTE PRESSURE GAUGE Pressure HF PSL UaTMosmeRe) 0 pau, (o atnosnienes) zeesi ies ATMOSPHERES Latwosrucee ess 26P5 1 SATHoseneees. 2 arnoseuenss Ses Rest A kimosmuenes 2 arnosenagesDid you know that not all water weighs the same? In fact, saltwater weigh more than freshwater. This is because seawater has cissoled salte in it and those dissolved salts have mass or weight. So a sub which ddves to 1 atmoophere (10 meters) in saltwater is oubject to a slightly arcater pressure than ote diving to the came depth in freshwater. ‘The added salts also increase the density of the water. This means that saltwater can support more weight for the same volume than freshwater. Ths also means that: 1 oub operating in saltwater will require more ballast to make it sink than one operating in freshwater. Effects of water pressure Presoure affects liquide and solids differently than gases. + Acsolid object euch as a rock is practically incompressible, 60 water pressure has ‘no noticeable affect on it + Liquide are considered to be incompressible, except under extreme presoures. In ‘other words, generally iqud cannot be squeezed sealer + Aas, such as al, ic compressible + Anollow object is affected by pressure just lke a ga. So a hallow object Such a ‘a submarine must be constructed of a pressure resistant material lke ateel 90 it doesn't collapse. What: does thio mean? Arty object that is soll or filed with a uid wil withstand the proscure at full ocean depth. Ary gas wil be compressed underwater unless it is protected in a preasure resistant container such a8 a scuba tak or pressure hl How is depth related to pressure? ‘The deeper your vehicle oes, the more pressure is exerted on the whole craft. That meano that submersiles working at greater depths require stronger canisters or hull. To get thie kind of strength, the presoure structure fs often made of metals such as aluminum, steel, stainless steel or titanium instead of plastic, Shallow water Vehicles can be constructed of plastic which is lighter in the water.SHHSCSSSSSHSSHSOSHHHS SHS HHS HEHHEHHSS How is size related to pressure? ‘A smaller object hao less surface area eo there is lees total force pushing on it. A bigger object has more curtace area and hence more total force affecting it. So in submersibles, the larger the presoure hull or canister size, the stronger that hull has to be to resist this force, This means a large hull that will be going very deep has to be bull stronger than a small hull going to the same depth, Pressure resistant shapes The best shape to resist water pressure is a sphere, This is because the water pushes equally from all sizes of the sphere. The worst shape is a box. This i because ‘the flat sides have more unsupported surface area and hence less strength. A Compromise shape isa tube or cylinder. It hae good presoure resistance because itis round in shape, almost lke a sphere, but ite length provides a more convenient shape for equipment or people. A cylinder with dome-shaped ends is even better. Pose ce crumen evans wt pone Enos fees (wor comronis (een) ) 7 (Berta compromise) Most submarines take advantage ofthis cylindrical hl shape. Submersibles such a9 ‘Alvin that go to extreme depths have to use aspherical pressure hull because of the Intense water pressure. They are cramped iside because their aphercal shape io not 48 convenient human ing space. ROVs and AUS can use ether cylinders or spheres, depending on the depths for which they are designed. A box filed with ol is regularly used to house batteries on a deep water oubmeroibe. This ie called an o-compensated pressure housing and provides a convenient internal ‘space. The box shape works because liquids euch a5 oll cannot be compressed so the 4 qr tsar ‘PRESSURE ON TWO OBSECTS —-+—) boo | Waves esse =| Lt wave assure renee» LL | ATER PRESSURE FER GS Pte tsi tania Pst esbest 1+ Mone exessure el taKcex cube + Lid‘ \ shape and thickneoa ofthe pressure structure doesnot y “Etat nal water vices, compensated bx Me ON haps can ews { | How are alr, water pressure and depth related? \ | ta baton a the surtace fled with a an then we? a ~¥/ submerged, the water pressure squeezes it omallr and nitte \ UD ‘smaller the deeper rf goes. in fact, the balloon contracts - + xt Re Nb 7 passeer —involume ina linear relationship to depth. Using gauge cari cw Rieeact) pressure, at one atmosphere or 33 feet (10 meters), the ¥ OS sta veven Micon i hat the le the atthe surface, Ab NN atmospheres or 66 feet (20 meters), it io U2 the size of t | it original urface volume. AL2 stmoopheres or 29 feet (GO meters) i would be 1/4 ofthe volume tt wae at the fA surface and 2 on. hen you bring It back tothe surface, It will expand to ite original size. What would happen if the balloon were somehow filed with ase air at 3 atmospheres or 29 feet below the surface (50 ‘cues tmeters) and then raloed to the ourface? It would expand 3 to 4 times its orginal size. This physical principle of gases é oN 4 under pressure is called Boyle's Law atid cari be quite a 1 compl elec, Le Wha des the have to do wth etme? The ait > aamomenat (x. inode oot ballast tank ona submarines attectedty rotons (onus) pressure just tke the air inside the balloon, As a submarine S) cee , rises, it has to be able to vent the expanding air in its fy a2 Dalaot ton, Aote des, tear the alas tanks | compresses, decreasing the ous dplacenent and reali itdevoer. Terforete st taotr The tnd ot gon se crash dive can be dangerous. So compressed alr is added Sok Re games Uf. these tomar a ent orc CA Sine tome ‘compensate for the increasing pressure. This keeps the ‘ ‘caueey rate of descent steady and under contr. a2Rule 2. A STRUCTURE KEEPS IT ALL TOGETHER. Al underwater vehicles, habitats or diving bels have some sort of a structure. Its function I to hold or support the various components of the craft, Structures can be very simple (asin the tubular framing of the ROV projects) or very complex (a3 in ‘the inmer frame and outer hull of a manned submersible). In more sophisticated vehicles, the outer structure i hull that is hydrodynamic its shape 50.35 to minimize drag (resistance). The imer structure fs designed to resist pressure and is ofven called the pressure hull.On smaller robotic vehicles, the pressure hulls called a pressure canister or “can” ‘Some underwater structures require sir inside to maintain a ving space for the crew or to provide a dry apace for electronic cicultry. This means you are dealing with 3 hallow object which imposes additional structural considerations We know that water pushes equally on all lies of an object, creating presoure on it. Ifthe hull is hollow and the air inside is ata lower prescure than the water pressure uteide, then you have to make the walls of the hull strong enough to resist this ‘greater outside presoure, A submersibe s designed for a particular depth limit. thie depth lime exceeded, ‘the water pressure destroys it with an inward explosive force. This ie called an Implosion, whichis the opposite of a exlosion.Pressure resistant structures Inthe underwater habitat project, you learted that there are two different types of pressure resistant structures—those at ambient pressure and those at one atmosphere pressure ‘Ambient pressure isthe easiest type of hollow underwater structure to build and design because the inside atmospheric pressure is alvays a bit higher than the outside water pressure. This means it doesr't have to be built as heavy ao the presoure resistant structure because ‘he higher inside alr preseure resists the outer water pressure. In fact, a pressure difforertial of only 8 fraction of an atmosphere is enough to keep the water out. This can be demonstrated by iwerting 8 glass jar in a bowl of water. Notice the water does rot come up inside the glass Jar very far However, a you push the jar further down under water, the increasing water preseure compresses the air inside the J forcing the water level further up inside the ja. Obviously, you want to keep the divieg bell or habitat dey For people working inside, 60 how do you keep ‘the water level from rising? Wel, often these structures have 3 compressed air hove that supple air and equalizes the pressure betivzen the inside air ard outside water. This means that you can keep the bottom open 90 people or vehicles can easily move in and out of ‘the water. This opening is called a ‘moonpoolAlthough an ambient presoure structure i easier to bull, there are some significant: diesdvantages to consider. The main ore ip that it io unnatural for the people inside ‘olive in a high pressure atmosphere. When they want to resurface, the crew has to deal with nitrogen gas that has become saturated in thelr bloodstream so they must endure lengthy decompression to avoid getting a painfully crippling condition known a6 "the ber ‘The one atmosphere pressure underwater structure avoids the decompression Problems of the ambient procoure structure. How 90 Ib utlizes a otrong hollow hull ‘structure to keep the intemal ar presoure lower than the surrounding water presaure. The advantage of maintaining a one atmosphere internal preseure fs that ‘the crew can lve in an atmospheric pressure similar to that on the surface, This is best for humans because there are no dving hazards such as the berds and narcosis, ‘todeal with, Divers can surface without the lengthy decompression stops that are necessary with an ambient pressure habitat. Airlocks Moving objects and people into a one atmosphere pressure structure underwater requires something more than a simple moon pool. Because the internal precaure of the habitat io eos than the external pressure of the water, an airlock is necessary 50 that water will not flow inside. The stock is a device which allows a omall separate chamber to be presaurized to match the outside water pressure. When these two pressures are equalized, then an exit hatch can be opened, If the presoure inside i less, then the outeide water pressure holds the aireck’s exit hatch firmly in place. Submersible engiveers who design hatcheo take advantage Of this force which presses down on the hatch seal 1: ATMOSPHERE wasiTar win ‘AIRLOCK. bt LIPO Daa ea ese | | 1 1 | | q | | 1 | r i 1 | 1 4 q | | 1 t i | | i 1 ! | 4. - C c i t c L i r | | v r I i L L mi i L | i i c c I r L i c c c Tr r #005Rule 3. _ BIGGER ISN’T NECESSARILY BETTER. The larger the structure is, the more mass it has. And the more mags it has, the more inertia it has. Inertia io an object's resistance to change of motion. More Inertia mears you have to use more enaray to get an object to start: moving oF to stop it moving or to tum it. To understand inertia, imagine a car that hac run out of gac on level ground, one block away from the gas station It might take ‘three adults to push hard erough to get that car started relia ut once It is underway, the car requires only one person pushing ‘to keep it moving, However, when they get to the station and want C0 stop the car, i's going to take al three people to do eo. Foxe person tries to stop the car by pushing on the front hood or bumper, there's a good chance the car's inertia will be too high ard he wll be run over. ‘Tio relationship is called the power to weight ratio. describes how much eneray is needed to move and stop an object. In underwater vehicles, this means you have to ‘choose the right size of thrusters to manewer your craft st the speed you went. Here are some factors to consider: ‘+ -Acsmall thruster can move a emall ROY but may not be enough to move & big ROV. + Abig thruster will move a small ROV faster than a small thruster. ‘+ Think sbout the epace in which the vehicle wil operate and the amount of space heeded to carry the batteries and other components of the vehicle. ‘+ Remember that the bigger vehicle Io, the more it costs to bulld an operate, + Weight and power dictate size as wel The heavier the vehicle is, the more power heeded to move It. More power also means more weight. More weight requires a bigger hull to displace more water to maintain neutral buoyancy.1+ Spoed is aloo a factor. The faster ‘the vehicle is to move, the more power Is needed. Streamlining the hul helps decrease the drag ana lovers the ‘amount of power needed to move the Vehicle at a certain speed. Thus less poner is required and less weight. ig DRAG Balancing a vehicle’ weight to poner ratio, an be very changing and there ie no perfect solution Rule 4. A SUBMERSIBLE SHOULD FLOAT BEFORE IT 1S BALLASTED. Ifa sub (or a boat) sinks when 1 is launched, something i wrong with the design. A propery bite craft should have enough positive bucyancy to mate it flat. Then itis ballasted and trimmed so that it can make a controlled descent and ascent. [At first look, tt would seem that gliders, diving bell and bathyspheres are exceptions to this rule, bocause they sink when launched. After all, a simple glider ls supposed to travel underwater on a downward glide path. You don’t want it to float. Well, this is fine for an inexpensive toy where you only need a string to bring i back to the surface, but it's not very practical for a scientific inatrument. Advanced gliders are constructed with enough buoyancy to make them float back to the surface, but only after they drop ther ballast weights. So, in effect, they stil have to be bul to Fost before they submerge. The more complex gliders ln this book algo follow the “float before ballasting” rulehing bells and bathyspheres use cables, rather than string, to return back to the ‘surface. However, in emergencies these devices are designed to be able to drop thelr ballast weights in order to surface. Like submersibles, their ballast weights are only added afterwards. So they, 100, follow the rule How does a submersible actually dive and surface? ‘A submarine dives and surfaces due to a law of physics discovered by an ancient Greek mathematician named Archimedes, He lved a long time ago, from 287 to 212 B.C, and was very observant and curious like any good scientist. One time when he got into his bath, he noticed that some water spilled out, He also noticed that his body seemed to weigh less in water ‘and wondered about the relationship between the weight of the spilled water and the diferent weight of his body. ‘Afterwardo, Archimedes started careful experiments ‘to measure the amount of water displaced by ary object. Through these experiments he found that objects float because: Any object wholly or partially immersed in a liquid is buoyed up by aforce equal to the welght of liquid placed. ‘This law of physics is called Archimedes’ Principle. Let's translate Archimedes! discovery into everyday language: + Any objectimeans anything, tt could bea log, a boat or a sub. + Wholly or partialy submerged means all of the object io under the water or part of itis sticking above the surface. A boat ie partially submerged, which means part oF Ite hulls under the water, and the rest is above + Aliquid could be water, or ol, or anything wet. t+ + I 1 I T tC oe + Buoyed up by a force means an object Is being pushed upwara by a force called buoyancy of that Ito trying to laat up to the surface:+ Equal to the weight of liquid displaced! (This is the most important part ad the hardest to explain) it means that liquid has weight. Weight i caused by a force called gravity which pullo everything to the centre of the earch. That's why we all down, not up. Any liguid hae weight, 50 the greater the volume of liquid the more It weighs, * The word alsplaced means that the object takes up the space the water wae in and pushes the water somewhere eloe There is another law of physics that says no two objects can occupy the same ‘space at the same time. Ths is true for objects floating on the water's surface oF underwater. An object in water pushes away water. Ithe object weighs lev than the weight or volume of water displaced, then the object wil loa. I the object weighs more than the weight or volume of water it alsplaces, chen the abject will sink Seif a oubmarine were inisble, you Would see a hole inthe water the sme shape a0 the invisible submarine. What ‘this means I that-the water cannot occupy the same space as the sub does. Water is moved away, o displaced. The next time you take a bath, you can see this principe of physics happening for yourself. When you get into the bathtub, notice that the water level rises. You have dioplaced the water. When you get out, the level goos back down because the water moves back into the space you accuped, ‘Youll also notice that you fee lighter (buayant) in the bathwater. You can even life yourself off the bottom of che tub with only a couple of fingers. Try doing that on dry lanai What's happening? Wel the volume of water that your body aisplaces is large {enough to support your body weight. 2g Fons Bate Fiore Ghou.en} TMEse BALLS pisriace “THe SaMe AWOUNT OF MATER Sur ME MARBLE were oRe Thaw ee DISPLACED WATER CAN SUPPORT SOmT SINKSArchimedes’ Principle at Work ‘A boat sinks when ite dleplacement is changed unintentionally. For example, iFa tugboat hite a rook hard enough to puncture ive hull, he hull filo wich water and the boat sinks. What reslly happens lo that the space that the tug made in the water, before it hit the rock, changes when the water rushes in. The water filo the space ‘that the tg had displaced. Now the tugs displacements less and the boat sinks bevauve the mater can't hold up ary moro. Subs are designed to float and sink by changing their aleplacement intentionally. Most submarines use a system of ballast tarks to achieve this, When the ballast ‘tanks are full of water, there is les water pushed away or displaced, and that means leas buoyancy holding it up against the force of gravity. Go the sub sinks. But how do you get the submarine back to the surface? To do that you have to get ‘the water out of the ballast tanks. This happens ky pumping the water out or by forcing compressed air into the ballast tank. This increases the submarine’s dioplacement, thus letting the force of buoyancy push it back to the surface BALLAST TANKS. eer vas t Ferto wan niet ‘There are other ways to make a submarine dive: + One method is by utilizing the forward motion of the oub along with its dive planes to force the sub downward, Dive PLANES: — ee aad tase Shes atte Descent ASCENTOVS commonly use this method, Foam | «Gravity is another method, slong wich dive planes, ‘that gidero employ to descend, ale + Another method eto metal vertical thrusters wus o Front EXeiarion ‘The dive plane and vertical thruster methodo require that the sub be close to ‘eutrally Buoyant (almost in sinking condition). For the gliding method to work, the craft must be negatively buoyant (a sinking condition) Although there are some exceptions, ROVs and AUVs typically have a static or faed buoyancy that is set near neutral or sightly positive (Floating). Buorancy aeYou can Se Ta EFFECT ‘oror' tuecror ear Most modern subs actually use a combination of several methods of controlled diving ‘© Deep Rover, for example, has a ballast tark and vertical thrusters to help it sink and rise. ‘+ Arruclear-ponered eubmarine uses dive planes and ballast tanks and its propellor(s) + The Ferry Submersible 1405 uses a ballast tank, ive planes, and vertical ‘thrusters to ascend and descend, + The Slocum glider uses a gas bladder to change displacement and fixed wingo to faciltate diving or surfacing Gliders—A Special Case Eesides Archimedes! Principle, all ubmersibies are affected by forces generated by ‘the flow of water over thle hulls, This io the principle of hydrodynamics. Hydrodynamics is the science of flowing liquids and is much lke aerodynamice, which ie the science of fling air. Underwater gliders utlize hydrodynamic effects to move ‘Through the water. Like a glider the air, an underwater glider works because moving water generates 3 difference in presoure on the two surfaces of the wing, The high pressure region on one side and low pressure area on the opposite causes the wing to move towards the low pressure, This reaction is call Wit Lift can be used to dve or surface 2 glider, depending on the angle of the wing. If the wing ie angled down, then the low proscure is created on the underside of the wing Causing the glider to dive Ifthe wing is angled up, then the low pressure is created on ‘the top sid of the wing, causing the Fry lider to rise. Jaen ate In the glider projecto in this book, the Anois rama ~~ wings are angled down by adding a weight to the front. This reoultant angle ip called the angle of attack ard e @ e e e e ry ° e e e e e e e @ e e e e ® e e e e e e e e e e e edetermines how steeply the glider will go towards the bottom. Without this angle, the lider wil stall or wobble back and forth because it-canot generate the It it needs to glide. By creating it, the wing prevents the glider from plummeting straight down lite a rock t0 the bottom. The weight also helps the glider maintain a constant angle of attack. IF the weight is too large, the glider wil plummet like the rock, Why? Because the surface arca of the wing Is not large enough to generate a liting force great enough to overcome the increased ballast. glider can carry larger loads (ballast) ky increasing Ite wing area, ‘The size and shape of the wing is important as well. Notice the wing inthe glider projects io a triangular or delta shape. Other shapes can be used, but you still need ‘he same surface area. Thus if you design a longer wing, ft must be narrower to maintain the eame surface area required. Conversely, wider wings have to be shorter Inthe ruddered alider project, the omall piece of tape added to make the glider turn ' really a rudder or small hinged wing that is mean to create lif in different directions. A hinged wing that charges direction is called a rudder, and a hinged wing ‘that changes the angle of attack is called a flap. You carn experiment with different rudders and flaps to make the glider tur.ENS a erred Ptah tte tt Lk weigur | Lb Rule 5. THE WEIGHT ALWAYS ENDS UP. BELOW THE FLOATS. Float an empty plastic pop bottle in the bath. Spin it. See how easly it allo hi water? Now, tape a bolt to one side and try spinning it again. Notice that now it ttakeo more effort to get the bottle to roll. There's aleo loss rotation before it stops: and settles bolt side down in the water. What's goina on here? ‘This experiment demonstrates stablity. v's the came factor that keeps sallboats from fipping over i the wind (hopefully) and submarines oF ships from rling excessively ‘hie ability ofan object in water to right itself f called stability. How fast or slow the Vehicle doce this determines the extent of ita otabilty. The distance between the float and the weight determines how stable the craft i. ‘There are two forces at werk here: © the force of buoyancy which is an upward force © the force of gravity which is a downward force specs sven Both of theve forces have an Imaginary center where the forces \ ‘Lecs seem tobe concentrated. We call tebe the center of buoyancy land the eonter of gravity. The center ofaravity i aways below the center of buoyancy, thus the rue: the float ends up above the weight. The Flat is buoyancy ard the weight is gravity Ifyou try to break this rule by putting the center of gravity (weight) above the center of buzyancy (Roat), the vehicle will aways fp, moving the weight below te Rat. ‘he closer the center of buoyancy (the float) isto the center of gravity, the less stable the craft is or the more easily tells. Thi ike che weightless plasle pop bottle sping in the water. And the posit Io true. The further apart the center of aravity and the conter of buoyancy, the more stable the craft Marne engineers refer tothe distance bebween the center of gravity and the center of buyancy a6 the BG. So you can have a high or big BG (more stable craft) or a mall 8G.A highly manewerable submarine wil have los BG. Avery stable crate ke an ROY wll have a high BG. ‘eawtySCOCOKHOSAHHEHEHHHSOHHLASHLSEHHHSAE Rule 6. MOVING BALLAST WEIGHTS TILTS ____THE SUB. ‘Tem is the balance or angle ofa vessel in or under the water. I's lke changing the balance on a teeter totter. ova kids oF equal Weight are at each end of the teeter totter, the board wil be level But if one kid ie much bigger. you have to do something to get the boatd to balance level. You have three choices, right? 1) You can move the big kid closer to the center or 2) you can move the fulcrum of the teeter totter closer to the big bid oF 2) you can give the small ki extra weight until the teeter totter levels out. This isa similar situation when trimming an underwater vehicle. Sometimes when you puttin the water for the first time fe will leat level, But moot of the time It doesnt Tis io usually because there is more weight on one side than the other. To get the craft to float level, you have to add weight to the light sid. Obviously, you have to concider trim in two directions— front to back and side to side. Front to back is called Jongitudlinal trim an side vo side's called transverse ‘rim. Finding the right: tim takes experimentation, In chips or sailboats, generally the trim io level. This io also true for a submarine operating at-the surface of the water. But to help it dive and surface easly and efficiently, a eub needs to be able to move ies ballast 60 the veseel can tilt up or down. Mast often this is dane by pumping water in or out of the ballot tanks which are located fore or aft in the sub. ‘The trim is slightly diferent in robotic vehicles, An ROV usually trimmed with the bow slighty up. We cal this trimming by the stern. This prevents the ROW from ploughing into the bottom and harging up or collecting mud in te structure. So ary OV unico you build should be trimmed slightly by the stern. Brcaneeo pace | Feont wen | tineataneeD | panes | Stee,1 GLIDER USES A FULLNG ote FoR PROPULSION +=) Moro An eet Rule 7. ANY SUBMERSIBLE HAS TO BE ABLE TOMOVE, There are baicaly owe ways a vice can nove uderwatr Popuion sa pushing force most commonly done hy a mater and propel Teese ute are called Sroston the other meted an atractve or pling force raping force. Diving bell and habitats use gravity to go down in the water or otay af the bottom. Glidero need to move horizontally through the water but do not have ary motor. Rather than any propulsive push or force, gliders rely on the pul of gravity along with the effects of lift and drag on thelr wings to move them through the water. “There are many types of thrusters a vehicle can use to propel itself through the water. A motor and propeller Is the most common. Water jets are another type. Bottom crawling vehicles use tank type treads for propulsion. > Dune saucer Uses ate Jers Boron cease, See MTOR AND TREAD ‘The function of the motor is to convert electrical eneray to mechanical energy. The function of the propeller foto exert a push on the water. By pushing the water away from the vehicle, the vehicle moves in the opposite airectlon. Ths rate of movement. ccan be controll ky speeding up or slowing down the thrusters or by using rudders and ave planes. When converting one form of eneray to another, some eneray Io always lost in the form of heat. A thruster that: converts the energy to mative power with the least ‘amount of lost heat is called efficient. Tus thrusters are rated by how efficient they fre in this conversion. The loner the eneray los, the higher the efficiency. Obviously it is bet to have a highly efficient motor for a submersible. Unfortunately, higher ffciency aloo means a motor tends to coat more,Rule 8. A SUB NEEDS SOME KIND OF ENERGY SOURCE. Gravity io avery basic energy source but it acts on the vehicle from outaide. Often {you wantt an additional force operating from inside the vehicle that can previde a propulsive source of power to either accelerate or counteract gravity. Uke a car's gao tank, submarines need to cary or store some type of eneray that ‘can be used to run its thruster. Early oubo used human power to turn a propeller Modern subs rely on hydrogen fuel calls, diesel electric engines, hydrogen peroxide ‘engines or nuclear power plants. These tend to be primary sources of energy that are Converted to electricity whichis then stored in batteries aboard the vehicle. Batteries are usually the simplest and cheapest source of stored power. Batteries come in all sizes. Generally, the larger the battery, the more power tt packs and the heavier iti, Power density is the term that describes how much power a battery or Power source carrie for ite size andlor weight. Power density is closely related to ‘the power-to-weight ratio of a underwater vehicle Endurance describes how long a vehicle can operate underwater with the power ‘supply it hae. Small battery powered vehicles have quite limited endurance, but a full sized nuclear powered submarine can operate for months. Endurance i a major consideration in any vehicle design. Because an ROV uses a tether to get poner from the surface, there is usually no theoretical limit to that type of vehicle's endurance, However, AUVS are limited in endurance by their battery capacity. = & Ac To De POWER SUPPLY sexe gee. cee chin sarveey aoeRule 9. YOU HAVE TO BE ABLE TO CONTROL THE POWER. For a auboca vehicle to go wherever you want, its power source hae to be directed or controlled ta tum on the thrusters, ter the rudders, and operate the ballast yotem in order to dive. For che project In this bock, you are an eesential part of the control ayetem in that you operate the suitchea and decide what direction the craft wll go. With sophisticated submersibles, a control system is also necessary to operate auriiary systems ouch as the lights, cameras, sonar and any scientific instruments ‘or weapons. A computer performs most of these functions in all AUYs and the more sophisticated ROVS. Modern submarines and deep sea submersibes all use Computers to a greater or leaser extent to aseist a human pl in running the mmission. But even a simple enitch can be used to control power. Computers are not always necessary,Rule 10. IT IS IMPORTANT TO NAVIGATE THE SUB. — "Navigation is the process of directing the movement of an undersea craft from one point to another. In the projects in this book, al te vehcleo are navigated by sight alone. The only ‘exception is the glider which is essentially pointed in a direction and launched. You assume i wll follow the course set for it by the rudder and fins which are preset to celther make the craft turn or travel in a straight line Since the ROVs are operated insight from the surface, your eye serves as the navigation sensor and tell you if the vehicle is going i the direction you want it to, However, with larger vessela, navigation by sight alone is not very accurate over a longer distance or in turbid water. Se devices euch as a compass, depth censor and ‘sonar beacons have to be used for navigation, Exfgeone omeuren ) seo ournenr ON THE AUY PURL IL4. HOW TO MAKE YOUR PROJECT RISE AND SUBMERGE IDEAS FOR VARIABLE BALLAST SYSTEMS ‘Submarines use soft or vaable ballast tanks to change their deplacement. To make 2 soft ballast Tank you have to have some way to push the water out ofthe ballast ‘ank and let itn again. Compressed air io commonly used. This is aleo vey sinilar 10 the technique described inthe diving bell project Compressed air sources: seuseun + a small aquarium pump rer andlor check valves —— Ter + plastic aquarium tubing ‘A manifold allows you to gang up several valves in order to control more than one ballast tank, You can buld one according to the ilustration below. tl ! Nea 1 xan of paingie | NET 1 Saar nae commen LY 1h a [AiR BlabpeR” LIVE BALLAST TaN) Fo) ih rte 1 shadow r cower 1 PAY npnee Sof ballast tank options: plastic soda or pop bottles + PVC pipe with end caps + balloons (air bladder)Ttontanp vaeisae! [fram ios T IDEAS FOR CREATING STATIC BALLAST SYSTEMS. | Rass ae Static ballast aystems are typically used in ROV and AUY projects where the ballast | TO NCREASE is set to near neutral and the vehicle Is moved up and down with a thruster, reaeene or “I Float possiblit PVC pipe with end caps ‘+ film canisters (good for shallow water projects) } + fich ret floats + chunks of styrofoam PVC PIPE Float + pingpong balls or ary ball that wil float: + small plastic bottles last weight options: + fishing leads + tire balancing weights + mute, bolts and washers Tarusters: + Use the waterproof motors described n the SEAPERCH project + Intresh water, you can oubmerge a motor from a hobhy shop that does not have ‘2 waterproot housing and it should stil werk. However, wl ust eventual. + Motors from toy constnucton sets (euch a6 Lego, Capsela?, et) wl work but they should be dred well ftermarde sweusres to prevent rust + Bie pumps lite those used in SEAFOX wil work wel‘SUBMERGING USING DIVE PLANES You can utiize de planes on a underwater vehicle project to make itrise or submerge. The steeper the angle, the faster it will go up or down. Iti afficut to make a mechanisin to change the argle of the dive planes, but don't let this discourage you. Many model submarine kite sold in hobby stores have dv plane mechanisms, 60 you can check aut how one works by looking at a kt or perhaps by reading one of the many magazines on radi entrolled modo, “+ Trim the vehicle own by the head (move the weight forward). + Trim the vehicle dow by the stern (move the weight back). + Angle the thruster up or down + Use a combination of trim and thruster angle. + Putavertical thruster at the very bow or stern of the vehicle and apply power (cither forward or reverse) COMBINATIONS OF TECHNIQUES Many real if submersible use a combination of techniques to dive. Try some for ‘your ovm project. 2. HOW TO ACHIEVE STABILITY Tere are come tips for designing stability ito your vehicle: 1+ Maximize the diotance between the position of the floats and the weights, + Use a cube-shaped vehicle with Rost 20 wide apart as possible. + Torpedo-shaped vehicles have the float and weights very close together. This can cause the vehicle to nosedive and/or roll. Simply add a deep sailbost- type keel. + Indiving bell, weights chould alvays hang below the structure for vertical stabil, ‘TECHNIQUES FOR MAKING A FIXED DIVE PLANE VEHICLE:2 SeG0000 C0000 SeReeEeBEeBe 3. HOW TO TRIM Depending on the forward or aft ttt you want on your vehicle, move the weight (ballast) forward or aft or side to side. Often it is easier to use several smaller ‘weight rather than one big one. This gives you more Pxiblity and control in achieving ‘the desiced trim 4. PROPULSION CHOICES Thnastrs 1 Use he nate tet desorbed inthe SEAPERCH pees + lnfeshuater jo career motor ro a otby step tat doe rct have Sater esi doh awa ows onl rat tanh + Motos from tay constriction sts och as Lape Capo ctw nb they shut be cl wel afterarota pen Pat + ue pe sucha hone ed EAPO werk al eropedics = AIRPLANE PROPELLER: + boast aioe peo proper ata toe 7 Eiloi dom lent + bone props ram abby tore 2 + Use proper ata bot or costco st Mot: Sete shard attach proper tote shaft importa toby Gras prop wth the crest set he fee pp ht lls ge seat ga toh att and tno Noe sat has oa ‘nage proper Bilge pump: Dilge pumps cost more but they make excellent jet thrusters because they are already waterproof and are ready to go. Unfortanately, they only workin one direction, 60 you need one for each direction you want the vehicle ta be able to travel in, Usually that means six pumps for up, down, forward, reverse, lft ight. Diaserrseraseria Hore is anoat trick to make a really ~ roe TE:5, CONTROL SYSTEMS Control eyatems can be kid of complex but there are afew simple systems that do not require Fancy computers or electronics, Air “Try ganging valves up in a manifold in order to control multiple ballast tanks Electricity Many different kinds of switches can be used to turn the power on or off to motors, air pumps, etc. Here are same simple circuit diagrams for wiring these owitches, swore essary y x oes} Control boxes: ‘You can make or purchase various types of control bows for holding the snitches and wires. These project boxes come in many sizes and are available fat electronic shops, Plastic food containers also make good project boxes, There are many types of ‘witches: you can check them out at an electronics store. PT Suan (serion) & conteat Bo |Tet 2 (El fs Positioning the thrusters: Controlis not only about switching motors on and off but about where the actual ‘thruster or ballast tank is positioned on the vehicle's steucture, Postion, angle and |aousicn renetaar ize of the thruster, a8 well as the positioning of the suitches on the contrel box, mia affects the ease of piloting your veicl L WI FHT ov mirusren Positions 6. PRESSURE HULLS ferview Keeping the water out ofa certain space ona Sub s important. Inthe projecta here there are two basic ways of doing this. Ether air is used to push water out (a9 in the habitat or dvng bel project) ora substance such as melted wax ie used to prevent. water from getthng in and shoring out the electrical connection Sut what f you want to make a water-tight hull or canister witha penetrator hole for wites or air ines? Here are some simple materiale for making oe. + PVC pipes with glued end caps (ike the oats used for SEAFOX) *+ PVC pipes with threaded fizinge (remember to use teflon tape or pipe sealant to ‘eal the threade) Note: Silicone sealant provides a watertight seal on PVC pipe tut allows you to reuse the Retings. + Plastic jars (ikea soda bottle or a bike water bottle) witha screw top or puch tp. When you want to run wres or hose into a pressure hull you needa through-hul penetrator 60 that the hull stays waterproof. The ilstration wl show you how to make a simple throug-ul penetrator4chtaet b4-b44-14- 7. STRUCTURE ‘The structure of an underwater project can utiize ary shape or material, Here are some you may want to ty: + Plastic pipe and Fittings come in standard sizes of 2", 3 12", 2,4" and 6°. These pipes come in afferent types of plastics: PVC, CPYC, ar ABS. PYC Echadule 10 pips works the beet for underwater projects. Anather typeof plastic pie called sewer pipe comes in 3", 4" or 6 sizes but it has a thinner wall thickness ‘than PVC Schedule 40 pipe, This thiner pipe canmot be used for projects going deeper than 20 feet (10 meters) + Toy construction seve such ao Knex*, Lego, or Capsela® also can be used for underwater structures. 8. POWER When it comes to a simple power source for basic underwater project, your choices are limited to either batteries or an AC to DC converter. BATTERIES Batterie vary primarily in cast and weight, The following would sult most underwater projects Dry Cells There are two basic types, rane of which are rechargeable: (1) alkaline which are high eneray and (2) the cheaper standard flashlight batteries which have lose stored eneray. Both types have the same size standards: 15 volte = AAA, AA,CD 6 volts = lantern batteries 2volts = also lantern batteries + NiGads (Nickel Cadmium) These have a high inital cost but sre rechargeable. Their capacity is not as great as an alkaline dry cel, However, they have an excellent dlachatge rate, which means power can be pulled faster from the battery without damage. This makes NiCads deal for powering motors. These 1.2 volt batteries come In sizes A.C D.NiGads are typically stacked in series to achleve higher voleage. Instead of using voltage values, stacked NiCads are referred to by the number of batteries in the serieo, 90 a "5 cell = 12 volts x5, or 6 voles total. NiCads are easily damaged by short circuits. * GelCells These are lead acid batteries where the electrolyte Is gelled instead of liquid. They are cheaper than NiCad, are rechargeable, and have a moderate to high discharge rate. They come in various dimensions, voltages and amp/hour ratings: 6 volts from 1 amphour to 10 ampihours 2volts from 1 amphhour to 48 ampfhours The higher the ampihour rating, the larger the battery and hence the more it weighs. Gel Cll batteries are very reliable and forgiving Ic would take a major short circuit to damage one, NOTE: Keep batteries cry. Dispose of ld batteries by taking them to a recycling center. Do not use leaking batteries, Be especialy cautious with car batteries which ‘may leak or spill acid from the cals. ‘AC to DC POWER CONVERTERS: ‘These power sources convert ordinary household alternating current (AC) to lower direct current (DC) voltage. They use a special transformer to do this conversion “Typically, converters come in 6 and 12 volts and have ratings anywhere from 2 to 12 _ampihours. The type required to run thrusters for an underwater project have to have at least a 5 amphour rating, Although AC to DC power converters are ‘expensive, if used frequently they are cheaper than batteries, Od electric train ‘wansformers are a good cheap source of ACIOC power converters, WARNING: Short ccuiting batteries ‘can damage the internal cells and | inay even caves encesshve heating —! orfveinthe secteatereuts Use| fea, wnenevefesll, to protec. circuits from damage. 1 lesley WARNING: For ACIDC converters, ‘make sure you plug into a Ground Fault Indicator or GF-protected circuit. Most newer houses have a GF circuit in all bathroom or ‘Outdoor electrical pigs. The GF! ‘automatically cuts power to the plug, preventing electric shock it ‘an appliance (such as a hairdryer) ‘or your power suppl gets wet. ‘you don't have a GFl,youcan buy hardwarestore. Find an Using the GF plug. NEVER GET INTO A BATHTUB OR. POOLWITHAPROJECT THAT = USES AN ACIDC CONVERTER, EVEN IF IT 1S GFI PROTECTED, RIS e+ s 08 6 a‘The projects in this back can all be built with hand tools, although power tools ouch 15 dels can speed up the process. WARNING: Do not operate power toots without proper instruction and supervision. Wear safely glasses. Serondrivers Soldering ron on Hand drill and bits (Note dril bit sizes + Robertson this book are only given niches) © flat head "boo iy given in ) ‘ Pipe Cutter © needle-nose pliers Wire stripper or knife: side cursers {Glue gun ana glue sticks Swe Fasteners: + hack saw ole wrape + back saw © sro gue CUTTING PLEXIGLAS® OR A SHEET OF ACRYLIC PLASTIC Safety glasces are especially important when cutting plastic with power saws, ‘Note: cut edges can be very sharp. All plastics can be cut with wood type saws, CUTTING PLASTIC PIPE Before making any cuts, take #120 sandpaper or a Scotchbrite® scrub pad and rub the pipe clean and free of labela, etc. Ifyou use the Scotchbrite® pad, add a bit of ‘abrasive cleaner (the kind for cleaning oinks) and a little water. It io important to measure and cut one piece of pipe at atime, If you do all the measurements at once, your lengths will be short by the width of the Baw or pipe cutter, Double check measurements before making each cut. Hold the pipe ina clamp or have someone else hold It securely and carefully while you ‘are making your cuts. Afterwards smooth al rough edges with eantdpaper:DRILLING and SCREWING Ifyou are not experienced with drils or screndrivers, got someone who isto show you how. Then try It on scrap material, Practice to get a steady hand, For driling Plexiglas®, you can either use a special drill designed for Plenglas® or you can fle the leading edges of a regular del bit to prevent it from “grabbing” the material. Wear safety glasses and use a slow speed for drilling, Put the Plexiglas® in a lamp or have someone hold it securely. Keep hande well aay from dil site ‘SOLDERING Soldering is one skill where it pays to practice. I you have never soldered before, get help from someone experienced. The real trick i to heat the metal piece (called the wort) with the hot soldering iron tp and then touch the work with the solder wire, The wire wil met. and flow evenly over the joint. Do rot overheat once the solder is melted. Guickly it the tip away from the work. This takes a bit of practice IFit's done right, the solder joint should look shiny If iti dull and rough, re-heat the Joint and apply more solder. NOTE: Be careful not to burn yourself with the hot tip of the soldering iron. And after each use, be sure to put the solder iron back in its proper holder. I's easy to bum something I you just Set the soldering iron on your work space. Sometimes solder can splatter, 60 alvayo wear safety glasses. GLUING WITH SOLVENTS Read the warning label and instructions on the instant glue bottle. Make oure there is lots of fresh air in the room s0 the glue vapor can disperse. Wear safety glasses, Use rubber gloves because this type of adhesive bonds skin instantly. Get assistance from an adult i you are unfamiar with this product. Instant gle is very runny, 20 It is best to glue fittings in the upright position, Wait a minute for the glue to harden before moving on to the next Fitsing [Aon Sc | 1 He ROTATE “4 IF ac ae ON Tuten, THe Tor | Truate wict sadeeze Tourey “irs For curate mio DRILLING PrExILa sok corer ons | (etic Seen osre€])| | | ent wie meat | ome soubor 2, rurme soiseaey te frpe nen ot ‘me Secon en, J ie pone conten we Soneee ete Shane | ifire gus, tetenr | sygdguens Mom Meni TT | 139i | WARNING: The tip of a glue gun | gets very hotand you can get \_ burned. Hot glue can also burn, ‘so.use caution. i= Benp wie WI | REEMLENOSE PLIERS fa HOT GLUE GUNS: For hot glue quno to work properly, they have to heat at least five minutes before use. Even after you are done using the glue gun, sometimes the glue can melt and ‘continue to arp, so either pullback the glue stick or rest the glue gun ian aluminum pie plate If you need to remove hard glue, you can melt it with the hot tip of the glue {gun and then scrape it off ‘TIE WRAPS Once you cinch a tie wrap up, you can't undo it. Just cut It off and use with a new one. WIRING Wiring may seem comples, but itis much less of a mystery if you frst study the diagram, then run one wire ta time, placing it to minimize crossing over ather wires. Use te wraps or tape to bundle wires together and keep them neat. Stripping a wire requires a delicate touch. How you do it depends very much on whether you are using a krife or wie stripper. If you use t00 much force, you can cut ‘through the wire or nick it, reducing its strongth, Then it will easly break if bent. if {you rick the wire, don't try to save It. Just cut It off and strip a new length To put stripped wire around a screw terminal, bend it nto a hook shape with a reedle-nose pliers first. Then place it around the screw terminal and tighten. ‘There are bwo baclc types of wire: stranded and solid. The types of wire used in most projects in this book are etrarded epeaker wire and solid hook-up wire. The smaller ‘the number, the larger the wre sie. The most common sizes are: 28, 26,24, 22, 20,18, 16 and ¥4 gaugee @ e e ® e @ e e @ e @ e e e @ e @ e Water ‘wo thirds of our planet's surface is covered by oceans, to an average depth of 12,287 feet (3780 meters). That much water makes our planet unique in the sol system. Because we really don’ have any easy way of knowing What goes on inal that water, undersea vehicles are designed to operate and explore the depths. ‘The physical properties of water determine how ary submersible works—how it dives, surfaces, how faat ft can go, how deep, and how it navigates. So here are some fact about water that are of particular interest to a submersible designer. + Water is composed of two hydrogen molecules and one oxygen molecule 60 it Is written as H,0. + Water can exist as gas, quid and soli + Temperature affects the state of water ‘At O degrees Celsius or 22 degrees Fahrenhelt and lover, freshwater turns to ice. Saltwater actually freezes at a slightly lower temperature Between 0 and 100 degrees Celeius or 32 degrees Falronheit and 212 degrees F water is a lquld ‘At 100 degrees Colsius or 212 degrees Fahrenheit, water turns to gas, Baling water tums to steam which i water vapour Water has weight. One cubic foot of freshwater weighs 62.4 Ibe, (1 liter = ka.) One cubic foot of saltwater weighs 64 Ibs. (liter of saltwater = 1025 ka.) + Water flows, A vehicle could not move through water ifit didn't flow. Water flow both assists and hinders (For example, ft and deaq) a vehicle rr 4-b+4— ‘Accolumn of freshwater 33 feet tall(or deop) x one square inch In area weighs 14Ibs. This \weightof the water column is, called pressure and is H commonly desigrated as water pressure = pounds per square Inch, (In metric measurement, ‘the torm used to describe i pressure is atmospheres.) (sees ate 4-Ft4--+ tale1. WEIGHTS OF VARIOUS MATERIALS Material WeightiCubic Foot in Pounds Air 00807 Aluminum 168 Concrete masonry, plain 45 lee 8 Lesa 708 Wood 44 Steel 485 Water (Standard, 62°F) 62264 Water (Sea, 62° F) 63.93 2. CONVERSION CHART water Meters Feet 0 228 20 656 20 284 50 164 100 328 Decibars ATM, Psi. 100 1 7 200 2 204 200 3 441 500 5 8 woo 10 “a7 “Water preseure varles depending on the density (ie. ealt or fresh) and temperature.3. CONVERSION FACTORS (in alphabetical order) or HOW TO CONVERT. atmospheres to pounds, inch centimeters to inches: centimeters to meters ceontimeters ta millimeters: cubic feet to cubic inches: cubic feet to cubic meters cubic Feet to liters ‘cubic Inches to cubic centimeters: cubic meters to cubie feet cubic meters to liter: fathoms to feet: feet to mevers feet of water to atmospheres: ‘eet of water to poundsteg, inch gallons to cubic Feet gallons to liters: Imperial gallons to US. gallons US. gallons to Imperial gallons: horsepower ta matte: Inches to centimeters x (rultipy by) 14.7 x 394 x01 x10 x1728 028 x28.32 «1629 2531 1000 x6 304 «029 AB x3 «378 x2 83 x 7487 «254 kiograms to pounds: 22 kilometers co miles: 62 knots to klometers/hour «185 ‘nots to miesthour x15 liters to cubic centimeters 1000 liters to cubic eet: 085 liters to cubic inches: x@.02 meters to feet: 4328 miles to lometers x16 ounces to grams: x16 pounds to kllograms xB pounds of water tocubiofeet: x 016 pounds of water to gallons: we quarts to cubic feet: x quarts to liters: x94 ‘square centimeters to square inches: 155 ‘square feet to oquare meters: x.09 square inches to square centimeters: x6.45 square meters to square feet: x 1076 1asrth ‘ouinoe v Ma a vee use a V= abe cus 4, HOW TO CALCULATE THE VOLUME5. A SIMPLE METHOD TO WORK OUT BUOYANCY (Gee discussion of Archimedes' Principle on page 16.) Engineers and designers use tables and formulas to predict buoyancy and thus figure out how much ballast to use. However, this simile method will help you determine buoyancy as long aa you can weigh all parts of your project (the structure floats, ballast, ec). ‘First, weigh your object (eg. a hollow flost) on a scale and record the weight. '¢ Then puta bucket on a bathroom scale ara fill tothe brim with water. Record ‘hi weight ‘+ Empty abit of water 60 you can easly carry the bucket to a sink Then refil the bucket to the brim, © Put the object in the bucket and completely cubmerge i by pushing down on it Use only the presoure required to get the object below the surface (in other words, don't soak your hand or youl be guring that into your calculations, too) Let the water overfiow into the sink * Remove the object: * Carefully put the partially emptied bucket back on the scale and record this new weight. ‘Subtract thio weight from the weight of the full bucket. This figure equals the weight of the water displaced by the abject. * Now subtract the weight of the object (eg a float) from the displacement weight. ‘+ The difference is the object's buoyancy ‘Note: Ifthe dtference lea negative number, the object will sink it's a positive ‘number, the object wil float. The value of positive buoyancy is the weight that the object wil support In the water without sinking CT rer ta | sugmerse Desecr Gont) | {BEN Remove | | rtert4 ba Lhda ior iP | EEmamne Buceer | of Waen = 7185. | wetcnt oF water” _ ‘Disreaceo ev | eenecry) | rao I(weient oF oiseLaceD WATER [3:1 tas oF uh robe I [| Siittenr oF oatest = Buoyancy’) bre ae JL LILINDEX A ootetmoipnere ing sate (ee ate atmosphere ‘ng su) sola 937.15 (35) AlbACORE 9.9 ‘sananaur p10 ‘Ab p 10.2159 (viet proonire 7.27, MNS ‘evican Cut Wap. tmercan Fevouton p& ctr pA 2 Havaeus 9 37 ecnmedes Pec 6-120, 122 RGD 15.21 [RRGONAT ARGONAUT IP. 8 AUGUSTE PKCARD p 1 [AW (avionomowe Dtdewater Vie) p11. 18 Ty BH, AA NT, 1B, 82 8 acon Rager 9.6 Pala Bap 18,108 Pelaating. 7, 3, 76,982, 70120, 125, Son seton due 7.29.28 fationcape P 8.10 aiyppere 89,2126. 1-10 bateree 9278607 Deeb rte 9.8.26 ge pre 79,23 Howagbalase p20 Bond Dr Gesnge p10 27 Borgen, Seon 9.7 oom crowers 7.86126 Bayes Law pie restr ding 6.20.21 Brom Cues Mare 97 146 vyaney (neta rate poste p18, 52,12, unin Daa 9.6 c (Gs) CHALLENGER 7 ratenger Depp 9.21 constel p837 ort geben 9, 7,120. 04-95 ‘rl span matactions p. 12-7, 92-94 arvoled desert p40, 2 Chums Jaeqes 2, 910,27 102 126" (oe p16, 59.61 Caan ph o DAM voeels 9.7 (avec Leonardo p2 ‘Reompression p.19.24. 26,15 DeerFucnt pi.21 DEER ROVER ei, 2.122 Deep Submergnce Syste Proect 30 aemurly 2 dept charges p (ie anes p18 46,120122, 126.182 ‘ngs 6.8.08 29, 20,17.8 Sing bel nections p 22-3 Dye SAUCER 2.26" Vor oie Cometun 6 aR p21 Pure ps e (te) EAGLE 7 ener oe power) ERERUS 7 F ‘pyre or ir fi). 8 Fotatenttonte p25, 95 Frank, Benin Futonovers p s Gegnn,Emte 8,102 Gata pee camber p18 Garett Sarge. 9.5 faorinsenetins p 40-55 Sere pte A607. 17.2229 Biowak crauence p24 rary pA, 108,12 128,126,127 # HL Mower 9.7 Fs SUBRARHE | p abst noctns gp 20-81 fatate p9,10.2, 9488, 2627 1,118 Hate Emre 7.28 Nanthaedrglecthemer p27 Fann 7. Heuanr 7.8 HOUBATONE 7 ot atactresp. 2 NO NE-E,125 aman epee. 18 Id vencoo p18 Tyerodyam 7 MB122 Fatogeton 91.59 HvDROLAB 1.57 dope p.B 1 Industria Rtn p20 tert pe Inertial yaronamis Company (40) p10 Incrastona!Samarne Engineering Research (ee) 1 J TASON Je p 2 “in 10,2427 Spvelson SEALING 9.37L Like, Sion | eee JS 6.27 Me pize Un Edn p87 ™ Maclnes Dr sae p02 Manan Tench. Mark ahing sup. 7.27 Metaras, mp1 MC pi waver p61 aed gas dng (oe sturation in) Nomaan ng 8 roo poo p67, 16 Nereus Ga p02 N NAUTRE pt mattis” 7 (uss) swum p 9 reagaton p17, 29 NeweOut p24 27 Nelson Cpt noroeneetr' pe Nord Tarten jean Pi rer ovomarines 10M, 2122 ° obseration chambers) 9. ore aresper ing su (ADS) 9.10, 44,27 one amespere presi p37, 2 Pp escape po Pent” SUBMEROBLE pice Prion p61 card Aagute p.9 Pecan, Jacure p.9 losing netrtion 7,99 PISCE 10.14.2161 rloncele 9? POLARIS masta p.9 poser p26, 127 196-97 over foweah ratio oN Pressure (se water pessire) [esse cater (oe hl strate) Frope Famous p10 rroplers 9.126 Froplson 77,126 134 Freeon ps Porc 16, %9,192 R PAY par REEF RANGER p10 FESUROUM p 6108 reroalroboe p10, I, 20,46. 57,60 ove Se dnee 7 Oop 9.1015. 1.16.1, 2, 38 4, 7, 6689, {50 7078, 98,108,105, 1 2 2, 18S OV natretine yp 87.100 raer 80, 2306 s base p.6, 24-20, 61 Strain dhing 26-27, 61 cial sdervater breathing appraton 8,21 Scacuie pt PEAFOK traction p57, 78100 SEALABLII 10,57 SEAPEECH iota 9.57, 62-77 sensors 17,47, 62,129 Shanks Goo pn 2 See Auguntin p27 Seb nut p27 Simon Fraser verity Undewater Reseach Lab pea StDeUN p17, 45, 87,122 sonar 81.21.60 prge aver (oe breath hol ng) stably 9.124,02 ‘Stonmet ony 9. strstr (cee stares) Stbmarnes 9 6,7, 8, 810 21,00, 1 82 "Bo, 2, 2612718, 80. uberis 14, 20,2146, 58108, mh 1 117 0.126, 7,28 nirer devon tices pB T TERME p10, 2498 {erninton can (pouting) p 08-90 TERROR p.? he a amo) 91, 60,127,181 WReSHER p10 iruster istration yy. 64, 56:69 tWeuster p60, 100,616, RS, 85 TMTANG pa 20102 To.08 p25 serpedo 7.8.0 fount otnarres p10 ‘Rare pio TRESTE LH 7.9.21.69 TRESTE po fom p90, unre pe TER U BOAT po v Urmate pe UNTERSEEROOT (oun p. 8 w Wal. p98 water reas 108512 Wow Bows p47 Wend aber 7 cad pe 7 “7About the Authors... Harry Bol has boen project manager at Simon Fraser University’s Underwater Research Lab n Buntaby, British Colma, fr row rue his owr fin WETectnologes. Asa teenager, Harry and a frend teameaw for @ Science project, constructing an Underwater hapiat ‘or a pet maze, They even tied lig & ‘Small submarine thet woud carry food underwater to the mouse. Eventualy, Harry ended w bldg xother version of the sub and in mproved habitat tor he rational science fair. The project ‘aught him alot abart the prysies of buldng suomersibles, but most lrportantly i got him eto the field of subsea engeeereg that he 90 loves. Vickie Jensen was fouving edtor of WESTCOAST MARINER rmagaze. Every mot fer nearly four years ohe woud go to {he sea.ona dfferene kind of boat, mervew its crew and write host thelr work. She met Harry Bohm when she was working nan arse on Briteh Colrbia’s suwsea nat. View's most recent: books incude: SHIPS OF STEEL, SALTWATER WOMEN AT WORK axd WORKING THESE WATERS, She also Serves a0 a trustee withthe Vancower Maritime Museum 48To Order More Books... | To wilgedl More ore Books. . ‘Build Your Own, Underwater sw Robot and Other Wet e e e s 3. . a lseNo.900161006 \60N 0.9681610.0-6 For plelordrng oration, contact For pieorderng formation, contac: ° Westcoast Words Westcoast Nerds ® 286 Water Street ° Canada VER 26 Vancowor BC. Canada VR 26 i; (Goa) Tar s508 Prone I Fax (604) 73-3508 S Vpwericlnret \peenOrclnres ° Cr estou bris@hamecon or wes coms ords@harecn ebsice: wav nestcaastwords.com webeite: wwnestcoascwords.comC@OCOOHOCEHSOSESOHOSEHHHEHHGHESHVGE“This amazing book introduces you to the excitemont and he technology of Underwater exploration... But the real intrigue of BUILD YOUR GNM UNDERWATER ROBOT Is the projects—the things you car «discover the watery world for yourself. “Harry Bohm and Vickie Jensen have produced aunique¢ Amun ‘students in upper elementary or middle schools, Ihave sq ‘educating and exelting young minds. While this book is w= “fl iimatmenatas ‘and even adults intrigued by Its contents, “This book isa source of inspiration to kindle the. ‘generation of underwater explorers.” ‘And here's what kids have to say: “Voved bulteing the submersibies and having te figureit out.” Caroline Harrie “used to think scionce was a dra But you proved that science can| Jot more fun than it seems, Thanks.” Darcy James “Ikea building the ROVE the most twas aie bit hard but we did Wt... Maybe when I grow up i study underwater technetogy.” Tim Banky Universetaboitekat Trondheim SBN 0-9681610-06