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37 Out of 50 Critical Minerals On Earth. H

The document discusses the design and operation of an unmanned underwater vehicle (UUV). It describes the main components of the UUV including its cylindrical body design, electrical system powered by a novel seawater battery, and acoustic-based control system. Sensors are used to measure parameters like dissolved oxygen, pH, pollution, pressure, and temperature to collect data underwater. Maintenance involves protecting the vehicle from corrosion and allowing easy access for repair of electrical and control systems.

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Vinayak
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84 views7 pages

37 Out of 50 Critical Minerals On Earth. H

The document discusses the design and operation of an unmanned underwater vehicle (UUV). It describes the main components of the UUV including its cylindrical body design, electrical system powered by a novel seawater battery, and acoustic-based control system. Sensors are used to measure parameters like dissolved oxygen, pH, pollution, pressure, and temperature to collect data underwater. Maintenance involves protecting the vehicle from corrosion and allowing easy access for repair of electrical and control systems.

Uploaded by

Vinayak
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Introduction

Design & Construction


Electrical System
Propulsion system {power source]
Control system
Application
Maintenance, Repair and Troubleshooting

INTRODUCTION

The Ocean occupies 71% of the Earth surface and is the least
explored. Ocean contains about 37 out of 50 critical minerals
on Earth. Half of the oxygen production on Earth comes from
the ocean, 78% of global precipitation occurs over the ocean,
and it is the source of 86% of global evaporation and a huge
portion of resources come from the Ocean. Deep Ocean Water
contains over 70 mineral nutrients and trace elements including
Magnesium (Mg), Calcium (Ca), and Potassium (K) in their
ionic form. Therefore, studies and research about Ocean
exploration such as Marine Environment, Underwater Minerals,
Aquatic Ecosystem and Marine Resources are required.

Why Unmanned Underwater Vehicles?


Unmanned Underwater Vehicles (UUVs) are required as they
can perform the tasks which can be dangerous to humans
because Underwater Environment is not suitable for human life,
with:
1) Lack of Oxygen
2) Very High Pressures
3) Very Cold Temperatures

The effectiveness of vehicle can be increased by eliminating


the human element. So, there is a need for a feasible and
efficient Underwater Vehicle, which can work underwater for
the surveillance and monitoring of Aquatic Ecosystem and
collect the data for study and research purposes.
DESIGN & CONSTRUCTIONAL ANALYSIS

Body Anatomy:
For Unsymmetrical shaped UUVs, the heavy components
should be at the bottom and light components should be at the
top of the vehicle body. This creates a restoring torque to keep
the vehicle float upright. Spherical hull is the best structural
design for underwater environment but the shape prevents the
efficient use of the space available as most components and
systems are rectangular in shape. So, Cylindrical hulls provide
the best alternative, having high structural stability and a shape
suitable to the housing of electronic components. Our proposed
UUV has Cylindrical body because Cylindrical shaped body is
appropriate for underwater operations due to:
1) Equal Distribution of Pressure exerted by the Sea Water
2) Better Strength to Weight Ratio
3) No effect on UUV Operation due to disturbance by wave
4) Compact Design to house Batteries and Electronic System

Effect of Waves on UUV’s Motion:


Waves change the elevation of the sea water surface plane,
which changes the displacement of the float, resulting in a
varying Buoyant force.

The change in Buoyant Force F can be expressed in terms of


seawater density , acceleration due to gravity g, float cross-
sectional area A and seawater surface change in elevation h:
F= g Ah(t)

We relate this force to the motion of the UUV of mass M and
vertical displacement y using Newton's second law:
F=M d2/dt2 [y(t)]

We presume a wave of amplitude h0 and angular frequency 
h(t)=h0eit

Assuming y(t) to be of the same periodic form, and that the
UUV’s motion is much smaller than the wave amplitude, we can
write an equation for the vertical motion of UUV, y(t):

F=−M 2 y0 eit= g Ah0 y0 eit

Solving for the Amplitude of UUV’s Motion y0, we get:

y0= −g Ah0 / M 2

As the float cross-sectional area is curved, so it is minimum for


the cylindrical shape, hence its operation will not be affected by
light waves.

Float Stability:

The casing of UUV is constituted of a water tight buoyant


cylindrical housing, composed of High Strength Alloyed Steel
reinforced with Super Carbon Fibre (SCF). It has a pressure
hull to house its components in a dry and watertight
environment as well as being light and strong, the hull should
also be corrosion resistant as it will be subjected to a harsh
seawater environment. It uses a propeller for forward motion,
thrusters on sides for sideways motion and fins to steer in pitch
and yaw. Direct coupling of propeller shaft to motor shaft
without gear reduction maximizes efficiency and allows quick
changes in thruster speed. A Zinc anode cap at the end of the
shaft prevents corrosion of other pieces in thruster body. Since
the volume of the vehicle remains constant, in order to dive
deeper, it exerts downward force acting upon itself by using
external thrusters. Ballasting is also a method of submerging,
which involves employing pumps and compressed air to take in
and remove water.

ELECTRICAL SYSTEM
The Electrical System provides power from vehicle batteries to
motors, sensors and electronic devices. For a constant
propeller output power, increasing the voltage decreases the
current and decreases power lost as heat, thus propeller
electrical efficiency is maximized. However, electronic devices
like sensors require lower voltages, so these can be
accommodated with DC-DC Converters. The front space of the
casing contains a camera and orientation sensor for
determining the location. The whole Electrical System can be
easily pulled out of casing for repair and troubleshooting
purpose.

Power Source- Seawater Drinking Battery:

The proposed System harnesses power for propulsion and


operation of electronic devices from electrical energy generated
by the Novel Aluminium-Water Power (NAWP) Batteries. It
consists of an Alloyed Aluminium (Aluminium Gallium Indium)
anode, a Nickel-plated cathode and alkaline electrolyte, which
are activated when flooded with seawater. When the vehicle is
underwater, sea water is pulled into the battery space and is
split at the cathode into hydroxide ions and hydrogen gas. The
hydroxide anions interact with the aluminium anode, create
aluminium hydroxide and release electrons. These electrons
travel towards cathode (primarily Nickel) and generate current
in the circuit.

2 Al+6OH- >>> 2Al(OH)3 + 6e-


2H2O + 6e- >>>3H2 + 6OH-

Merits:

1) Seawater is free of cost and renewable.


2) Once aluminium corrodes, it can be replaced at low cost.
3) Both the by-products (Aluminium Hydroxide and Hydrogen
gas) are not harmful to the environment.
4) It gives a tenfold increase in range over lithium-ion
batteries.
5) It has high energy density and efficiency.

The voltage is made available to the motors and electronic


devices by connecting them to the Batteries through connector
by routing them through fuses. The voltage supply is routed
through a main relay, which allows the vehicle to be turned ON
or OFF. High efficiency DC-DC Converter is used to lower
voltage for electronic devices.

CONTROL SYSTEM
Control system is like the backbone of any operating system.
Without a control system it is very difficult to control the
operating unit .

So we need a good control system for our underwater vehicles


which not only help to control the vehicles but also help in case
of any emergency failure

Here we are using acoustic waves to send and receive signals


because we can’t use the radio waves. Radio waves can
penetrate non conducting materials, such as wood, bricks, and
concrete, fairly well. They cannot pass through electrical
conductors, such as water or metals. Cable also can’t be used
here because if we use the cable then the diving length of
vehicles is reduced and we require extra manpower to release
the cable. So the most economical and efficient method is to
use the acoustic signal to control the underwater vehicles.

Sensors are connected to the vehicles to measure the data of


different parameters which also use acoustic signals to send
data on the surface.

Dissolved Oxygen Sensor

A dissolved oxygen sensor is one of the water quality sensors


for measuring the concentration of dissolved oxygen in a
solution. It adopts the principle of fluorescence measurement

PH Sensor

The PH sensor is one of the water quality sensors used to


monitor the concentration of hydrogen ions in the tested
solution and convert it into a corresponding usable output
signal. PH sensor tells the nature of water weather it is acidic,
basic and neutral

Pollution sensor

A turbidity sensor is designed and manufactured using the


principle of scattered light turbidity measurement. Accurately
measure the amount of light passing through the water to
accurately measure the suspended solids in the water, and
these suspended solids can reflect the pollution of the water
body

Pressure sensor
Strain gauge is used to measure the pressure inside of the
ocean. Strain gauge sensors are metallic foils on a flexible
backing which sense deformation, due to the induced stress of
pressure.

Temperature sensor

An eXpendable BathyThermograph (XBT) an instrument


designed to record water temperature as a function of depth.A
resistance in the head of the probe and a very thin twin-wire,
connecting the probe to the equipment on the ship, compose
the electronic circuit for measuring the water temperature

MAINTENANCE, REPAIR & TROUBLESHOOTING


The exposed part of the pressure hull is protected from
corrosion using Impressed Current Cathodic Protection (ICCP)
method. Ducts made from Nylon protect the propeller and
thrusters from hitting external objects. The end caps are
tightened using O-Rings to prevent entry of seawater into
casing.

The electrical and control system can easily be taken out of the
cylindrical casing for repair and troubleshooting purposes.

In case of system failure, the vehicle can itself reach the


seawater surface due to activation of float mechanism.

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