Cyclo-UUV

Presenter: Graduate: J. Tristan White

Undergraduates: Darragh Farrell, Paul Poungsangchaun
Advisor: Dr. Moble Benedict

Advanced Vertical Flight Laboratory

 Vehicle Concept: Profile

• Hull Size ≈ 36”x24”x4”

• Tread Height ≈ 8”
• Total Weight ≈ 95 lbs

2
 Hull Design

• Split into two halves for

fabrication (subject to
change)
‒ Meeting with fabricator to
decide on design details
‒ Attachment methods
‒ Access hatches
‒ Material
• Designed for buoyant force
of 110 lbs
3
 Drivetrain

Driving
Face-gear

• Assembly of:
‒ Treads
‒ Hubs
‒ Sprockets
‒ Face-gears
Driven
Face-gear

Tread Hub
Sprocket
4
 Vehicle Concept: Cyclorotor

• 𝟑𝟔𝟎∘ thrust vectoring

• Flooded design for simplicity
• Retracted into protective hub on land
• Treads disengaged from powertrain in water

5
 Cyclorotor Tests

• Water tunnel test rig

‒ Cyclorotor suspended
≈6in underwater
Motor
‒ Mock load cell used for
initial tests
Phasing
Servo

6
 Vehicle Concept: Rear Propulsion

• 2x counter rotating propellers

‒ Increased top speed

7
 Rear Propulsion
• Incorporation of Diamond Dynamics TD-10 Thruster
‒ Extends 5.6” past hull, Kort nozzle protects blades

8
Images: Rear propulsion assembly on vehicle
 Vehicle Concept: Ballast

• Active ballast system

‒ Ability to rise and sink quickly

9
 Ballast Module
• Tested both fill and purge functions
• Small modifications still to be done
‒ Mounting to vehicle, purge port.

E
C A. Ballast Tank
F B. Waterproof Servo
B
C. Fill Hole
A
D. Vent Hole
E. Pressure Regulator
D F. CO2 Canister
G
G. Solenoid
10
Image: Ballast module
 Key Challenges

• Stability
‒ Flat hull profile is inherently unstable in pitch CL
• Retractable cyclo-rotor 𝑉∞
‒ Complex mechanism CG,CB
• Communication
‒ Transmitting through air to water is difficult

11
 Weight Breakdown

Mass Breakdown (76 lbs)

Ballast, 3.20, 4%
Cyclorotors, 4.95, 7%

• Things not considered

Retraction, 13.66, 18%

Frame, 6.72, 9%

‒ Sprockets (2 lbs)
‒ Hull (8 lbs)
‒ Ballast Foam (3 lbs) Propulsors, 8.00, 11% Motors, 10.92, 14%

• ≈90 lbs
Battery, 8.36, 11%

Other Electronics, 10.20,

13%
Tracks, 10.00, 13%

12
 Tasks and Timeline
• Design and validation of each subsystem: April – Nov 2021
‒ Retracting cyclorotor (Water Tunnel)
‒ Rear propulsion (Water Tunnel)
‒ Hull shape and stability (Water Tunnel)
‒ Ballast system
‒ Treads
‒ Communication and controls
• Vehicle assembly: December 2021
• Early testing: January 2022
13