OE 5011 Marine Robotics End Semester Examination Spring 2021 Total marks = 60

Part A Each of the questions carries three marks.

Q 1 (A): External thruster is an excellent option for maneuvering and depth control. (T/F) – 1 mark
(B) What are the advantages and limitations of fish like propulsion system in AUVs? – 2 marks

Q 2 (A): What is the importance of water temperature profile and light penetration depth profile for a sensed environment?
– 1 mark
(B) For the following: L = 10 m, radius = 2 m, velocity = 2 m/sec, compute the length Reynolds number (Re), area Re, volume
Re, Froude number (Fr), and depth Fr. – 2 marks

Q 3 (A): Identify the robotic coordinate systems in the following figures: – 1 mark

(i) (ii) (iii)

(B) Why two AUVs will be rarely similar? – 2 marks

Q 4 (A): The major difference between an AUG and AUV is in their propulsion system. (T/F) – 1 mark
(B) What are the advantages and disadvantages for longer and shorter AUVs? – 2 marks

Q 5 (A): The following signal:

is a continuous time signal. (T/F) – 1 mark

(B): Why AUVs/AUGs are positively buoyant normally? And, how will positive buoyancy affect the basic design and weight
distribution? – 2 marks

Q 6 (A): The following sensor:

is MEMS based sensor. (T/F) – 1 mark

(B) What are MEMS based sensor and why are they useful in marine sensing? Briefly discuss one application of MEMS based
sensor in marine robotic systems and highlight the challenges for future. – 2 marks

Q 7 (A): The fuel cell battery option is best for application in AUVs. (T/F) – 1 mark
(B) Briefly discuss about the diving/recovery path for AUVs. Design the path curve for the given data: (-3, 0), (5, 0), and (0, -
9). – 2 marks

Q 8 (A): The acoustic communication underwater is highly reliable. (T/F) – 1 mark

(B) A torpedo of 1m length (mass = 250 kg) with a velocity of 5 m/sec is launched from an AUV, and the induced velocity
because of this launch for AUV is 0.5 m/sec. For this system, derive the basic dimensions of the AUV and payload.
– 2 marks

Q 9 (A): An actuator is essential in a marine robotic system. (T/F) – 1 mark

(B) Briefly discuss one application of bio-inspired actuator in marine robotic systems and highlight the challenges for future.
– 2 marks

Q 10 (A): For a design velocity of 0.25 m/sec a torpedo shaped body is good from drag point of view. (T/F) – 1 mark

(B) For a speed 3 m/sec, design the basic shape of an AUV of 2 m length. – 2 marks
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Part B Each of the questions carries five marks.

Q 11: What is a linear control system (with some real world example)? Briefly discuss about important properties of the linear
system. Suppose: x (t) input – y (t) = x (t2)* x (t-2) – output y (t), then analyze whether it is a linear or non-linear system?

Q 12: What are the time invariance and LTI system? Briefly discuss about important properties of the discrete LTI system.
d 2 y (t ) dy (t ) dy (0)
Suppose: 2
4  3 y (t )  e2t , t  0, y (0)  1,  1 , then analyze this ODE for control system behavior.
dt dt dt

Q 13: Why acoustic communication is preferred in marine environment? Explain the effect of thermo-cline on sonar
performance. Estimate the sound speed for the following data: salinity = 33 ppt, 35 ppt, 37 ppt; temperature = 26 0F, 30 0F, 34
0
F; and ocean depth = 12000 ft, 15000 ft and 18000 ft.

Q 14: The following trajectory is given: s (0) = 3, s (1) = 6, s’ (0) = 2, s’ (1) = 4, s’’ (0) = 2, and s’’ (1) = 2 where t varies from 0
to 1 time unit, s is distance, s’ is first derivative w.r.t. time, and s’’ is second derivative w.r.t. time. For the trajectory compute
velocity and acceleration at t = 0.50 and t = 0.75 time units.

Q 15: (A) A cylindrical pressure vessel, with a diameter of 6.0 m and a wall thickness of 24 mm is operating at an internal
pressure of 29.5 MPa. The steel of the pressure vessel had E = 210 GPa, a yield strength of 250 MPa a value of GC = 131
kJ/m2, and  =0.3. Now, analyze will it fail? In the case of failure, determine what will the minimum thickness that is needed to
avoid failure?

(B): Assuming the same loading conditions of (A), compute the failure possibility and crack width (if fractured) for materials
listed in Table 1. Assume through thickness crack.

Important values: Sea water density = 1025 kg/m3, g = 9.81 m/sec2, dynamic viscosity = 1.08 × 10−3 Pa.s, kinematic viscosity
= 1.05 × 10−6 m2.s−1.

TABLE 1: DIFFERENT MATERIALS FOR THE UNDERWATER VEHICLES

Material Density (kg/m3) Compression yield strength (MPa) Elastic Modulus (GPa)
MA - AL 2014-T6 2800 414 72.4
MB - Steel AISI 4130 7850 951 205

MC - Steel A36 7800 250 200

MD - Carbon fiber 1750 1600 40
ME - E-glass fiber 2550 4000 72
MF - Ti-A16-4V 4430 970 113.8

Q 16 (A): Briefly explain about the deep sea cruising 'KAIKO'. (Around 100 words).
(B): Briefly explain about the deep sea drilling vessel 'Marine Robot MR-X1'. (Around 100 words).

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General instructions
- Be concise, clear and short in your answers. Kindly explain an answer if is conditionally true or false.
- Make suitable assumptions if needed? Assume a value if you believe that the value has not been given?
- Answer all the questions.
- Indian Standard Time (IST) will be followed to decide the time lines and submissions have to be made through either
‘Googleclassroom’ or attachment of an e-mail. In case of the submission by an e-mail, submit to:
<[email protected]> and mention the subject: Submission of ‘ESE 2021 of OE5011’ for ‘Roll Number’. E.g.
Submission of ESE 2021 for NA16B024.
- You need to submit only the hand written, scanned copies in .pdf, etc.
- Use any notebook with ruled/un-ruled setting. Prefer only light backgrounds.
- Number the pages clearly, write your name, roll number, course number: OE 5011, Type of Examination on Top
Right Corner of the First Page.
- You are strongly advised to keep soft copy of all the submission for your own record.
- Submissions after the stipulated time lines will be considered null and void.
- Any copying of the text/calculations verbatim will be viewed negatively and you will losing 30% of the marks as
penalty.
- Date and time of the e-mail of submission will be taken for the record.
- Keep record of all the submissions as these will be treated as your own works and we will expect you to explain any
of them, if we desire, during the evaluation?

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