First of all you have a good start at knowing the basics of sub operations and a partial knowledge on the design. This is a pretty large accomplishment to fill, but ambition is not a bad thing.
-How do you seal up a hole in the pressure hull that contains any
such motors to control the dive planes or rudders, if the linkages
move forwards and backwards through the hole, instead of just turning
(any other ideas on the subject would be great)
The best method is having thru hull items that twist. This is necessary because any item that enters or exits the pressure hull will change the pressure inside (like a pump). Also the difference in inside and outside pressure will cause it to be hard to push out (higher pressure externally). Twisting thru hull items are usually sealed with orings and lubricant.
I recommend not having any thru hull movement. This is where money starts playing a role. I would use some kind of electrical actuator to move any control surfaces outside the pressure hull. This ofcourse increases cost and complicates design (mechanically and electrically)
-We have decided that we want to use a Life Support System involving
scrubbing the CO2 out of the air, and releasing O2 into the air when
needed.
-- Anyone figured out a great system to do this with yet?
--Anyone have sensors and such equipment yet?
We have a group of people working on the CO2 scrubbing system, and I'm not sure where they stand on a usable design. Someone from the list will have to comment.
-To recharge the ballast tanks, we want to use an onboard electric
air compressor (I just don't like the thought of fuel onboard the
ship), anyone have any suggestions on which ones to use, things to
look out for?
This option will depend on how you plan to use the sub. If you are just going to make short trips, there is usually no need to recharge high pressure tanks for ballast control. But with the sub you have described, I would recommend at least one diesel engine and a compressor to charge air pressure tanks.
-Navigation/Electronic Equipment:
-- Sonar:
---Any systems that anyone USES for their subs, how well they work,
etc?
There are guys using a variety of different sonar systems, but they will have to answer. I've not built a sub, so any speculation on this would be just that.
---Hydrophones yet?
We have a guy also working on a hydrophone system. There are some bugs still, but he is working them out. The biggest problem with hydrophones is the distance judging. It would take an expert ear (or very expensive system) to judge distance based on sound. (too many different types of vessels to judge).
--- Active Sonar Systems?
I'm not sure.....
--Radar:
---Does anyone use radar for when they are on the surface?
--- How do you keep the radar antenna safe when you dive?
Radar is usually not on a submarine, because most of our subs just don't travel that far. I know there is a company that builds subs that have radar. I think they use a very special built antenna to handle the pressure.
--Radio:
---I am assuming that any radio designed for marine purposes will
do, but how do you protect the antenna, any suggestions?
Most antenna are usually impervious to the average depth psubbers achieve. If you are going real deep, a stainless antenna would probably do the job. As for the radio itself, I'm not sure. I know most guys carry a standard marine radio. They may also carry an alternate.
--GPS:
---I know some of the complete sonar/navigation/radar systems
utilize GPS (which is a great thing I think)
--- BUT.. again, how do you protect the antenna, and does it work
underwater?
GPS would be useless underwater. The radio wave it uses will not penetrate the water. Some psub have some kind of inertia navigation.(it is set by the GPS at the surface). Most use the old reliable compass. You can see the role money plays in this hobby.
The people who use GPS have a handheld antenna to calibrate their navigation. They do not expose the antenna to the depths.
--Depth Gauge:
--The fish finder sonar systems tell you how deep the water is, but
not how deep you are
Now that one you should be able to answer your self. Fish finders tell you the depth of the water below the sensor. If you sink the boat......the fish finder will say the water is real shallow.
A depth gauge can be constructed by using outside pressure. It can be as simple as a pressure gauge (you do the math), or a purposely built system to figure your depth out, base on the outside pressure (by sensor).
-- So how do you know how deep you are ( I would prefer to stay all
digital, because then things can be run by the computer for
autonomous modes and various exercises) ?
Here is where I see a problem. I'm an electrical systems design/engineer. I have seen this method discussed at length. The problem with a computer is the old reliable blue screen. Although this would not be a dangerous happening at the time. It would lead to some information being lost, and therefore that information would have to be guesstimated. I recommend building a system using microcontrollers or something else that doesn't have software errors occur. This is where large sums of money can be spent. With a craft like you want to construct, it would be in your best interest to have a totally independent system for electronics. A computer possibly for control and monitoring, but the independent system to do the work and keep the information alive.
Sorry its alot of questions, I know. :-)
-Any laws that pertain to the use of personal subs for recreation? I
know after the N.Y. incident the FBI is taking subs a bit more
seriously, any tips as of yet? (We are based out of Los Angeles)
As of yet, there are no rules for Psubs other than the standard boating rules. This is ofcourse based on the fact you are not carrying passengers (paying). If you do the rules change greatly. Then the boat must meet ABS standards, and your project just became the 6 million dollar boat.
I know there are some subs out there that utilize windows based PC's
that run the navigation equipment and monitor equipment and systems
on board the ship, so I was wondering if there was anyone who had/has
such a system or knows what they use or how they do it, I would
appreciate it.
This is also a complicated question. There are literally thousands of ways to do what you ask. Unfortunately everyone does it a little different, so you will get a large number of different answers. I think most of the guys are programming or having software programmed for them. I would use a different method as mentioned before.
BTW, when I speak in terms of robotics, we do all remote control
based robotics, so there is no actual computer interaction involved,
its all radio based.
Anything else you want to add I am MORE then welcome to take in all
the information you guys can through at me.
Anything involving, materials to build the hull out out(looking at
Carbon Steel i.e. Mild Steel), viewports, hatch systems, safety
systems, ballast systems, surfacing systems/procedures for knowing
when its safe to surface/etc. I cannot really think of anything else
at the moment, but I am inviting ALL forms of advice (especially from
Peter Madsen (Kraka is my inspiration, absolutely amazing vessel!)
I think, if you are serious, and believe the capital is available. Purchase a set of plans from the website, and download Busby's book. These will create 100x the questions you already have. This will however answer most of the one you have at the moment.