Torpedo and Dropper System (2023-22)

I designed a torpedo system for CUAUV which is used to shoot a projectile through one of two cut-out holes precisely, reliably and usually at close range. The torpedo system must be able to securely hold these two torpedoes and shoot them one at a time. The system is designed to be compact, cost efficient, easily machinable and easy to reload. The torpedoes can be shot individually.

Springs coiled underneath the torpedoes are used to propel them, and a mechanical restraining bar prevents the torpedoes from being shot. A hydraulic piston pulls the restraining bar back thanks to the fishing line connecting the two. The restraining bar is shaped so that the first torpedo is shot when the restraining bar is pulled back halfway. The second torpedo is shot when the restraining bar is pulled back the full stroke of the piston. Slots for the rear torpedo fins prevent rotation. Reloading the torpedoes is easy and fast: one only needs to push the restraining bar back against the springs so as to be able to slot the torpedoes in before letting the restraining bar move over them. MATLAB code was used to optimize spring selection by modeling torpedo dynamics. FEA was used for verification.

The dropper system’s role is to drop two objects (droppers) from the submarine into a bin. Its design is very similar to the torpedo system’s; however, gravity is used to propel the droppers instead of springs. Although the droppers shape was also hydrodynamically optimized, there is space for weights to be placed inside.

CUAUV Mechanical Subteam (2023-22)

The Cornell University Autonomous Underwater Robotics Team (CUAUV) designs and manufactures a new submersible every year to compete in Robosub. We achieved 3rd place in the latest competition. As part of the Mechanical Subteam, I worked on the mechanical design of various components on the vehicle.

Technical Documentation is linked through each project header.

Hydrophone Pressure Vessel (2023)

I designed a pressure vessel for CUAUV’s hydrophone electronics and transducers, along with an integrated cage to protect the expensive and sensitive external electronics. Our hydrophone system’s role is to track the location of acoustic signals underwater, so as to locate pingers and communicate with other submersibles during the RoboSub competition over the summer.

My design accomplishes the following key objectives: it prevents water from coming into contact with electronics, it protects sensitive electronics on land, it allows for easy access and use, it is easily machinable on a CNC (DFM), and it is optimized for space, weight and cost. I ran multiple FEA simulations so as to validate my work: pressure tests ensure robustness under 20 feet of water by factors of safety, and Solidworks drop tests alongside static simulations help reassure the strength and ability of the external transducer protection. 

The transducer protection cage is completely new to the team. The cage (partly composed of two easily machinable aluminum plates) is meant to stay on when the hydrophone system is out of the water, and be taken off when hydrophones are in operation so as to not interfere with transducer operation. Hinging on one end, the cage is easily secured into its two configurations via either quick release pins or a 3D printed clip. When covering the transducers, the top of the cage covers the mounting hole for the enclosure, ensuring that our team doesn’t forget to take it off when putting hydrophones on our sub during the intensity of the RoboSub competition. 

Through this project I became confident in designing pressure vessels with O-ring face and bore seals, I am now competent in CNC DFM, I gained experience in robust mechanical design, I became better at presenting my designs and taking feedback via a four-stage review process, I furthered my skill in FEA and simulations, and I honed my ability to work on an interdisciplinary team. My technical documentation for the project includes further details, analyses, simulations, reasoning with regards to the decisions made, and a bill of costs.

Manipulator (2022)

I designed an end effector for CUAUV meant to pick up objects and move them to various locations before precisely dropping them. The object that was needed to be picked up was a PVC tube standing up, which is why the manipulator was designed to pick objects up from the side. FEA was used to ensure durability and as a tool to reduce space and cost. As usual the design went through a four stage design review process. 

Please see my technical documentation for further details on this project.