FYDP-1 Final Presentation

FYDP-1 FINAL
PRESENTATION
Design and development of magnetically Presented By:
• Ali Raza (215036)
coupled vectoral thruster for unmanned • Zulqarnain Awan (215235)
underwater vehicles (Phase-II) • Hassan Mukhtar (215037)
 Supervisor: Dr. M Abdul Ahad

 Co-Supervisor: Mr. Sarmad
Ishfaq
Department of Mechanical
Engineering
TABLE OF CONTENT
o Introduction And Background
o Problem Statement
o Aim & Objectives
o Proposed Methodology
o Proposed Timeline
o Sustainable Development Goals
o Literature Review
o CAD Model
o Reference
INTRODUCTION & BACKGROUND
o Need of Unmanned Underwater Vehicles
• For depth exploration need of UUVs emerges for
human safety.
• First UUV in !957 by Stan Murphy et al.
o Types of UUVs
UUVs can be classified into: Figure 1: ROVs [1]
• Remotely operated Vehicles (ROVs)

• Autonomous Underwater Vehicles (AUVs)
Figure 2: AUVs [2]

o Permanent Magnetic Coupling
• A device that uses permanent magnets to transfer
power or torque without physical contact.
• The connecting magnetic fields allows the drive shaft
to rotate the driven shaft.
o Thrusters Figure 3: Co-axial Permanent
• A thruster is a device used to generate propulsion . Magnetic Couplingm [3]
• It utilizes various methods such as jets, propellers, or

reaction control systems to produce thrust.
o Thrust Vectoring
• Thrust vectoring involves adjusting the direction of
thrust generated by propulsion systems, benefiting
through elimination of control surfaces which can
produce hydrodynamic inefficiencies. Simply rotating
the thruster is much more beneficial.
Figure 4: Thruster [4]

LITERATURE REVIEW
2007 Finding:
Vikrant P.Shah Basic knowledge regarding UUVs and understanding the variance of
Tittle: UUV design based on the application.
Design Considerations for Comparison:
Engineering Autonomous This paper was studied just for the basic knowledge of UUVs and to
Underwater Vehicles know how there design is application dependent.
2014 Finding:
Olivier Chocron et al This study highlights the use of servo motor to control direction of
Tittle: propeller and concludes that changing thrust direction using
A Validated Feasibility reconfiguration is much more efficient than varying the speed of fixed
Prototype for AUV thrusters.
Reconfigurable Magnetic Comparison:
Coupling Thruster. This study propose a novel electromagnetic actuator that is capable of
maneuvering the UUV without any mechanical contact and simply
uses electromagnets to attract the ferromagnetic disc in the driven
shaft fro vectoral thrusting.
LITERATURE REVIEW
2015 Findings:
A C Dubey et al It details mechanical considerations like hull structure and propulsion
Tittle: along with electrical aspects such as power management and sensor
Design and Motion Control integration, utilizing PID and LQR control for accurate depth and
of Autonomous directional control.
Underwater Vehicle Comparison:
In this study most probably a simple PID controller will be used for
heading control of the electromagnetic actuator with minimal
vibrations. There no need to used LQR controller or any other
controller control the depth.
2016 Finding:
DR. Muhammad Abdul Varying the gap between the driver and the driven end of the face to
Ahad et al face magnetic coupling, maximum torque rating can be achieved at
Tittle: minimum gap. As the center to center distance is increased the torque
Study of non-contact capacity of the system also increased and the slippage was less.
power transmission Comparison:
mechanism for unmanned The knowledge gained through his research regarding the maximum
underwater vehicle torque transmission proved to be useful.
applications
LITERATURE REVIEW
2018 Finding:
H F Gasparoto et al The magnetic coupling offers a reliable solution for movement
Tittle: transmission, eliminating the need for complex seals and ensuring
Torque Analysis of a Flat water tightness even in hull breaches. Additionally, it serves as a
Reconfigurable Magnetic mechanical fuse, mitigating friction, vibrations, and the risk of motor
Coupling Thruster for damage during load peaks.
Marine Renewable Energy Comparison:
Systems Maintenance In this study a similar approach to use of magnetic coupling will be
AUVs utilized but this study is utilizing a coaxial permanent magnetic
coupling which offers similar advantages as face to face magnetic
coupling and more over it offer much more maneuverability gap and
high range of torque transmission.
PROBLEM STATEMENT
o There are several problems associated with
conventional thrusters and control surfaces of
unmanned Underwater Vehicles (UUVs) such as wear,
lubrication and water seepage. The ongoing study will
provide solution of some of the issues by introducing
thrust vectoring in both horizontal and vertical direction
by employing a novel electromagnetic actuator in
combination with coaxial permanent magnetically
coupled thruster.
AIM
The aim of this study is to,
o Achieve 10 N of vectoral thrust (2 DOF) by employing a novel electromagnetic
actuator
Objectives
This study targets the following objectives;
o Design and development of coaxial permanent magnetic coupling
o Design and development of novel electromagnetic actuator
o Development and instrumentation of test rig for dry and underwater testing
o Control algorithm validation and real-time experimentation of the actuator
o Validation of thrust generation capability of thruster in underwater
environment
PROPOSED METHODOLOGY
Documentation
Literature Review Validation
Conceptualization and Controller Design and

Understanding Implementation
Conceptual Design Instrumentation
CAD Modeling Fabrication Assembly

CAD MODEL
Permanent Magnetic Ferromagnetic
coupling Propeller
disc
Driving Shaft
Driven Shaft
Bracket
DC
Motor
Rolling Contact Base

Electromagnetic
bearing Spherical Bearing Actuator
CAD MODEL
Base:
The base is the platform upon which the rest of the test rig is
built. It involve the design and construction of the physical
framework that houses and supports the thruster mechanism.
Bracket:
The bracketed part is the support used to provide stability to
motor.
Electromagnet Actuator:
The electromagnet actuator is the key component for
controlling the movement of the thruster. By controlling the
electric current to the electromagnets, it adjusts the magnetic
field strength, influencing the interaction between the
thruster's ferromagnetic disc and the actuator.
CAD MODEL
Ferromagnetic Disc:
Any materials involve iron, nickel, and cobalt, which possess
strong magnetic properties, allowing the shaft to interact
strongly with magnetic fields.
Motor:
The motor component serves as the driving force for the
propulsion system. Specifically, it provides power to the driving
shaft, which is crucial for generating thrust.
Neodymium permanent magnets:

The Neodymium permanent magnet are exceptionally strong
and efficient, capable of generating strong magnetic fields
necessary for torque transmission from driving shaft to driven
shaft.
CAD MODEL
Propeller:
The propeller is responsible in generating thrust.
Driving Shaft:
This part is responsible for transmitting torque from the
motor to the driven shaft via coaxial permanent magnetic
coupling.
Driven Shaft:
The driven shaft is further responsible for transiting torque
from driving shaft to the propeller.
CAD MODEL
Magnets Configuration:
A total of 16 neodymium permanent magnets are being utilized with a set

of 8 magnets used in driven shaft and 8 used in driving shaft.
SUSTAINABLE DEVELOPMENT
GOALS
Goal 9 is about innovation in Goal 14 is about fostering the

development of environmentally
marine thrust technology,
friendly magnetically coupled
improving infrastructure
thrusters, minimizing underwater
flexibility, and advancing testing habitat disturbance and preserving
methods for underwater marine ecosystems.
environments.
PROPOSED TIMELINE
Semester 06 Summer Semester 07 Semester 08
Mar Apr May Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Apr May
Literature Review
Conceptualization
Conceptual Design
CAD Modeling
Engineering Model,
Component Selection
& Procurement
Fabrication &
Assembly
Instrumentation
Controller Design
and Implementation
Validation
Documentation
List of Componeants selected:
NYLON + STAINLESS STEEL + ACRYLIC SHEETS + SQUARE PIPES + CASING (RAW MATERIAL)
NEODYMIUM PERMANENT MAGNETS
MOTOR DRIVER
MOTOR 12 V
IRON SHEETS
COPPER WIRE
DISPLACEMENT SENSORS
LOAD CELLS
SPHERICAL BEARING
LAUNCH XL DAQ TI
MISCELLANEOUS ITEMS (WIRES, CONNECTORS, ELECTRONIC CIRCUITS WELDING AND
MACHINING)
THANK YOU!
ANY QUESTIONS & SUGGESTIONS
REFERENCES
1. https://www.rjeint.com/wp-content/uploads/2017/07/roveastbankgps.jpg
2. https://
encryptedtbn0.gstatic.com/images?q=tbn:ANd9GcSaMrMW5LcIFOR0dJCmphPdXyoV
1u6AJ4K6SiNuXthpug&s
3. https://www.kral-usa.com/blog/magnetic-coupling-100-leak-free/
4. https://images.app.goo.gl/nTvKBgpeZDLobGcXA
5. Vikrant P. Shah, The University of Texas at Austin, 2005, Design Considerations for
Engineering Autonomous Underwater Vehicles
6. Olivier Chocron, Urbain Prieur, and Laurent Pino, IEEE/ASME TRANSACTIONS ON
MECHATRONICS, VOL. 19, NO. 2, APRIL 2014, A Validated Feasibility Prototype for
AUV Reconfigurable Magnetic Coupling Thruster
REFERENCES
7. V. Upadhyay, S. Gupta, A.C. Dubey, M.J. Rao, P. Siddhartha, V. Gupta,S. George, R.
Bobba, R. Sirikonda, A. Maloo, V.G. Idichandy, February 2015 , Design and
Motion Control of Autonomous Underwater Vehicle, Amogh
8. M A Ahad and S M Ahmad, 2016, Study of non-contact power transmission mechanism
for unmanned underwater vehicle applications.
9. Henrique Fagundes Gasparoto 1,2,3 ID , Olivier Chocron 1 ID , Mohamed Benbouzid
2,4,*ID,Pablo Siqueira Meirelles 3 and Luiz Otávio Saraiva Ferreira 3, 22 November 2018;
Accepted: 24 December 2018; Published: 25 December 2018, Torque Analysis of a Flat
Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems
Maintenance AUVs

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FYDP-1 FINAL

 Supervisor: Dr. M Abdul Ahad

• Remotely operated Vehicles (ROVs)

Figure 2: AUVs [2]

• It utilizes various methods such as jets, propellers, or

Figure 4: Thruster [4]

Conceptualization and Controller Design and

Conceptual Design Instrumentation

CAD Modeling Fabrication Assembly

Rolling Contact Base

Neodymium permanent magnets:

A total of 16 neodymium permanent magnets are being utilized with a set

Goal 9 is about innovation in Goal 14 is about fostering the

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