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DESIGN & CONSTRUCTION OF AUTONOMOUS

UNDERWATER GLIDER PROTOTYPE


(40 kg Displacement Diving Depth 300m)

BY
RAJESH R(OE15M003)

Under Guidance of
Dr. R Vijayakumar

Indian Institute of Technology Madras


WORK PROGRESS TILL NOV 16
Ser Action Date Progress
(a) Literature survey 15 Jun 16

(b) Parent Glider Analysis 30 Jun 16

(c) Initial Sizing 15 Jul 16

(d) Parameter Finalisation ,Lines Plan and Hydrostatics 05 Aug 16

(e) Structural Analysis 15 Aug 16

(f) Weight and Buoyancy estimation 30 Aug 16

(g) General arrangement 10 Sep 16

(h) Manufacture of Hull 30 Sep 16 IP

(j) Design & Manufacture of Roll and Pitch Mechanism 30 Nov 16 IP

(k) Design & Manufacturing of Buoyancy Engine 28 Feb 17 NS

(l) Integration of sensors 15 Mar 17 NS

(m) Testing of prototype 31 May 17 NS


MANUFACTURING OF HULL FORM

CUTTING OF AL 6061 PIPES AND WELDING OF FLANGES

Indian Institute of Technology Madras


MANUFACTURING OF HULL FORM

MACHINING OF THE FLANGES IN LATHE

Indian Institute of Technology Madras


MANUFACTURING OF NOSE AND TAIL

NOSE AND TAIL SECTIONS BEING MANUFACTURED IN GRP

Indian Institute of Technology Madras


ROLL AND PITCH MECHANISM

Reference: Hewitt. G; Design of Pitch and Roll Control for IOT Glider; National
Research Council, 2005 Institute for Ocean Technology, NL, Canada.
R&P DESIGN IN SOLID WORKS
Pitch Actuator
End Plate
Roll Motor

Gear System

Carriage

Ball Thruster unit

Centre shaft

Indian Institute of Technology Madras


MANUFACTURING OF R&P MECHANISM

CUTTING AND MACHINING OF ACRYLIC SHEETS

Indian Institute of Technology Madras


MANUFACTURING OF R&P MECHANISM

Indian Institute of Technology Madras


DESIGN OF BUOYANCY ENGINE
Variation in buoyancy to propel the glider forward
Energy saving compared to other propulsion
systems
Less noise and more endurance

Various types of Variable buoyancy systems are


Discharge VB system
Pumped water VB system
One-way tank flood VB system
Pumped oil VB system
Piston driven oil VB system

Indian Institute of Technology Madras


DESIGN OF BUOYANCY ENGINE
GLIDER POLAR PLOT
Represents all information
regarding glider performance

Plotted for loaded mass


ranging from 5-160gm

For design of buoyancy engine


loaded mass of 160 gm
selected with horizontal
velocity of 0.2m/s and min
vertical velocity

Reference: JENKINS, S. A., HUMPHREYS,


D. E., SHERMAN, J., OSSE ,J., JONES, C.,
LEONARD, N. E., BACHMAYER, R.,
GRAVER, J., Underwater Glider System
Study, Technical Report, Office of Naval
Research, 2003.

Indian Institute of Technology Madras


DESIGN OF BUOYANCY ENGINE

Reference:
Buoyancy engine developed for underwater gliders-Kenichi
Asakawaa, Kensuke Wataria, Hidetoshi Ohuchib, Masahiko
Nakamurac, Tadahiro Hyakudomea and Yasuhisa Ishiharaa

Indian Institute of Technology Madras


DESIGN OF BUOYANCY ENGINE
Features Components

Swash plate type axial piston Axial piston pump


pump Electric motor driver
Damping resistor control
Bidirectionally functioning Ball valve
pump Check valve
Oil Reservoir
Rapid change in buoyancy Rubber bladder
Batteries for power supply
Small and light

Can function under high


pressure

Indian Institute of Technology Madras


CONTROL SYSTEM ARCHITECTURE
START

SET REFERENCE(PITCH ANGLE 35


DEGREE,ROLL ANGLE 0 DEGREE)

SENSOR VALUE

CONTROLLER


GENERATION OF ACTUATOR
SIGNAL

GLIDER

Indian Institute of Technology Madras


CONTROL SYSTEM SELECTION

Indian Institute of Technology Madras


WORK PROGRESS TILL NOV 16
Ser Action Date Progress
(a) Literature survey 15 Jun 16

(b) Parent Glider Analysis 30 Jun 16

(c) Initial Sizing 15 Jul 16

(d) Parameter Finalisation ,Lines Plan and Hydrostatics 05 Aug 16

(e) Structural Analysis 15 Aug 16

(f) Weight and Buoyancy estimation 30 Aug 16

(g) General arrangement 10 Sep 16

(h) Manufacture of Hull 30 Sep 16 IP

(j) Design & Manufacture of Roll and Pitch Mechanism 28 Feb 16 IP

(k) Design & Manufacturing of Buoyancy Engine 31 Mar 17 IP

(l) Integration of sensors 31 Apr 17 NS

(m) Testing of prototype 31 May 17 NS


THANK YOU!!!!

Indian Institute of Technology Madras