A Computing Model for Design of Flexible Buoyancy System for Autonomous Underwater Vehicles and Gliders

BK Tiwari; Rajiv Sharma

doi:10.14429/dsj.68.12548

BK Tiwari Indian Institute of Technology Madras Chennai
Rajiv Sharma Indian Institute of Technology Madras Chennai

DOI: https://doi.org/10.14429/dsj.68.12548

Keywords: Flexible buoyancy system, Underwater vehicle, Computing model, Piston driven flexible buoyancy system, Pump driven flexible buoyancy system

Abstract

Modern design approaches are conceived and utilised in an integrated loop covering system statics, dynamics, optimisation, and others. In this regard this paper presents a computing based integrated design approach for a flexible buoyancy system (FBS) aimed towards the applications in autonomous underwater vehicles and gliders. The primary design alternatives for the FBS are: piston and pump driven and both are investigated. The primary design of autonomous underwater vehicles and gliders is computed from first principle of mechanics and defined in the computer aided design model and it is implemented in the Matlab*TM. Lastly, to show the application of the present approach, a design example is presented for a water depth of 6000 m.

Author Biographies

BK Tiwari, Indian Institute of Technology Madras Chennai

Mr B.K. Tiwari received his BSc (Physics, Chemistry and Mathematics) from the Avadh University, Faizabad, India, in 2007 and BE (Aeronautical engineering) from the Aeronautical Society of India, in 2013. Currently, he is pursuing his PhD at the Department of Ocean Engineering, Indian Institute of Technology Madras, Chennai, India. His research interests are: Design and development of autonomous underwater vehicles and gliders, guidance and control of marine vehicles, marine robotics and mathematical modeling and simulation.

Rajiv Sharma, Indian Institute of Technology Madras Chennai

Dr R. Sharma received his BE (Civil Engineering) from the Indian Institute of Technology, Roorkee (formerly University of Roorkee, Roorkee) in 1994; MTech (Ocean Engineering) in 1999 and PhD from the Indian Institute of Technology Kharagpur, India, in 2008. Presently, he is working as Associate Professor at the Department of Ocean Engineering, Indian Institute of Technology Madras, Chennai, India. His research interests are: Design, analysis and production of marine structures, marine robotics and dynamic data driven forecasting systems.