IS J AA

Marine Reconnoiter

International Journal of Systems , Algorithms & Applications

Guidance : A.Mallikharjuna Rao G.Naveen Krishna, 2S. Abinav Kishore, 3R. Haritha, P. 4Teja lakshman, 5P. Trilok Rishi 1,2,3,4,5 Mechanical Engineering, V.R.Siddhartha Engineering College, Vijayawada, India email: abinav.abi@gmail.com2, ramineni.harit@gmail.com3, ptejalakshman@gmail.com4, trilok66861@gmail.com5
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Abstract - To design/fabricate manually operated water borne vehicle, which can traverse at various conditions, depths and can perform search and rescue operations, at zones were human could not reach.

COMPONENTS USED

Fig No: 2, Middle Strip

Front & back strips This is formed using an aluminum strip of length30cm.Strip is bent and formed into required shape as shown fig

Chassis It is fabricated using aluminum strip having breadth 4cm and thickness 0.4cmA well designed structure is fabricated dividing the chassis into 4 parts Side strip Middle strip Front strip back strip Side strip This is formed using an aluminum strip of length43cm.Strip is bent and formed into required shape as shown fig.

Fig No: 3, Front & Back Strip

Description Using all these strips chassis is molded into a structure, which provides stair case for motors to control the vehicle, floats, arm mechanism etc.All this setup helps the vehicle row deeper under water with less effort on controllers. GRIPPER MECHANISM Components Springs Aluminum strip Hydraulic piston system

Fig No: 1, Side Strip

Middle strip This is formed using an aluminum strip of length54cm.Strip is bent and formed into required shape as shown fig.
Fig No: 4, Gripper Arm

Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

The arm consists of various mechanisms which gives it the perfect gripping action. Link: A resistant body or group of resistant bodies with rigid connections preventing their relative movement is known as a link. A link may also be defined as a member or combination of members of a mechanism, connecting other members and having motion relative to them. Thus, a link may consist of one or more resistant bodies. Kinematic pair: A kinematic pair is a joint of two links having relative motion between them. Kinematic pairs can be classified according to Nature of contact Nature of mechanical constraint Nature of relative motion According to nature of contact Lower pair: A pair of link having surface or area contact between the members is known as a lower pair. According to nature of mechanical constraint Closed pair: When the elements of a pair are held together mechanically, it is known as a closed pair. The two elements are geometrically identical one is solid and full and the other is hollow or open. The latter not only envelops the former but also encloses it. The contact between the two can be broken only by destruction of at least one of the members. According to nature of relative motion Sliding pair: If two links have a sliding motion relative to each other they form a sliding pair.

arrangement is or the reciprocating motion is converted into sliding motion of the supporting strip. When the piston of first cylinder is operated the force is transmitted to the second cylinder. This entire pressure is impressed on the middle strip.In the strip zone the sliding motion is converted into the compression force of the springs. Here the load is distributed uniformly on to the two fingers via two springs. In the spring zone the springs are compressed due to the hydraulic pressure. This makes the fingers to close and thus hold the objects tightly. When the load is removed, due to the stiffness of the springs, the fingers are opened. So the springs give the proper gripping force to the objects. The compression force of the springs is converted into the oscillating motion of the pivots on which fingers are mounted. In the pivot zone the spring force is transformed into the oscillating motion of the fingers. The two arms are mounted on the two pivots which give the oscillating motion of the fingers. Hence the oscillating motion of the pivot is converted into the oscillating motion of the fingers.In the tip zone the objects are gripped firmly and this motion is obtained by the oscillating motion of the fingers. Thus the finger mechanism is obtained to grip the objects from these 5 key zones. Hydraulic equipment

Fig No: 6

Fig No: 7a, Fingers Closed

Fig No: 5, Gripper Arm Top-View

GRIPPER ARRANGEMENT AND ITS MECHANISM The arm contains a supporting strip on which the force of the hydraulic arrangement acts. The supporting strip makes this load to distribute uniformly on the fingers. There are five different zones which play a key role in gripping an object. The zones are namely the piston zone, strip zone, spring zone, pivot zone and the tip zone. In the piston zone the force from the hydraulic
Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

Fig No: 7b, Finger Opened

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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

sistance when not using the propeller (e.g. when the sails are used instead). b) Skewback propeller An advanced type of propeller used on German Type 212 submarines is called a skewback propeller. As in the scimitar blades used on some aircraft, the blade tips of a skewback propeller are swept back against the direction of rotation. In addition, the blades are tilted rearward along the longitudinal axis, giving the propeller an overall cup-shaped appearance. This design preserves thrust efficiency while reducing cavitations, and thus makes for a quiet, stealthy design. Modular propeller
Fig No: 8, Object Carrying

Propellers: A propeller is a type of fan that transmits power by converting rotational motion into thrust. A pressure difference is produced between the forward and rear surfaces of the airfoil-shaped blade, and air or water is accelerated behind the blade. Propeller dynamics can be modeled by both Bernoulli's principle and Newton's third law.To work efficiently, propellers must be properly matched to their engines and transmissions.Four bladed propellers 4 in number are used. The fan situated at the left hand side provides the left side movement whereas the fan present at right side gives the vehicle a right hand movement.The fan situated at the back of the vehicle allows it to move in the forward and backward directions. The fan present in the middle helps the vehicle to move upward and downward. These four propellers allow it to traverse in any required direction and thus help to get the position of the object. Few Types of marine propellers: a) Controllable pitch propeller:

A modular propeller provides more control over the boats performance. There is no need to change an entire prop, when there is an opportunity to only change the pitch or the damaged blades. Being able to adjust pitch will allow for boaters to have better performance while in different altitudes, water sports, and/or cruising.

Fig No:10, 4-Blade Propeller

Among all various types of propellers this propeller chosen as it is less in cost, very portable, light in weight, gives maximum output of less rpm of motor Features: This propeller contains 4 blades. This propeller is 12cm in diameter. It consists of 6mm bore diameter. This gives the best performance for 3000-5000rpm Motors: [Gear Box construction and features]

Fig No: 9, Controllable Pitch Propeller

At present, one of the newest and best type of propeller is the controllable pitch propeller. This propeller has several advantages with ships. These advantages include: the least drag depending on the speed used, the ability to move the sea vessel backwards, and the ability to use the "vane"-stance, which gives the least water reVolume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

Fig No: 11, Motor Line Diagram

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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

STANDARD GEAR MECHANISM Other than the output gear, the gears rotate around a shaft that is fixed to the plate

Precautions for instantaneous reversing and dynamic braking: When the power supply to the motor is switched off, it is advisable to allow the motor to stop rotating before reversing the supply polarity. Failure to do this will result in a very high instantaneous current. It is possible to stop the motor within a few revolutions by applying a short-circuit across the motor terminals immediately after the motor is switched off This method is very effective but may shorten brush life. Vertical mounting with shaft up: In some cases when a motor-gear is mounted in this position, traces of lubrication oil can contaminate the brushes and commutator thus shortening brush life or causing a short-circuit. Please contact us when vertical mounting is required. Speed detection and control: A number of models can be provided with a magnetic or optical encoder. Please contact us for detailed information and assistance. Floats:These play major role in maintaining equilibrium of the vehicle.

Fig No: 12, Motor Line Diagram

NON-LUBRICATED METAL BEARING GEAR MECHANISM All gears, including the output gear, are attached to the shaft and supported by non-lubricated metal bearings. This type of mechanism is suitable for medium load applications and continuous duty cycle operation

Fig No: 13, Planetary Gear

PLANETARY GEAR MECHANISM A heavy duty type gear mechanism using 3 mating gears to transmit torque to the output shaft. This type of mechanism is suitable for limited space applications Properties, features and precautions of motors: Protection against overload and locked rotor: When the rotor is locked and voltage is applied to the motor terminals, the temperature of the motor windings will rise and eventually short-circuit. The time until a short-circuit condition appears differs per motor type. It is recommended that the motor is protected against such an overload by means of a fuse, current limiter or mechanical protection. Protection against RFI/EMI caused by PWM control: An internally installed suppressor reduces electrical commutation noise caused by the brushes. Depending on the requirements, extra precautions sometimes are recommended such as an external capacitor, or filter circuit. When driven in PWM at certain Frequencies it may occur that a motor does not start due to the combination of driving frequency and internally fitted capacitive noise suppressor.
Fig No: 14, Float Cabin

All the floats are kept empty only with air, they are sealed very tightly CONCEPT OF ARRANGING FLOATS TO MAINTAIN STABILITY OF THE VEHICLE Concept behind floats: When the vehicle is up sided due to any conditions of the water, due to float having a draft dimension, air occupies more sided area ,this gives a couple to the vehicle, this couple is utilized in such a way that the vehicle roll backs to its original position as it has to be. Metacentric height

Fig No: 15, Ship Stability diagram showing center of gravity (G), center of buoyancy (B), and metacenter (M)
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Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

The Metacentricheight (GM) is the distance between the center of gravity of a ship and its metacenter. The GM is used to calculate the stability of a ship and this must be done before it proceeds to sea. The GM must equal or exceed the minimum required GM for that ship for the duration of the forthcoming voyage. This is to ensure that the ship has adequate stability.

ship rolls. The metacenter is known as M in naval architecture.

Fig No: 17,

Fig No: 16

When a ship is heeled, the center of buoyancy of the ship moves laterally. The point at which a vertical line through the heeled center of buoyancy crosses the line through the original, vertical center of buoyancy is the metacenter. The metacenter remains directly above the center of buoyancy regardless of the tilt of a floating body, such as a ship. In the diagram to the right the two Bs show the centers of buoyancy of a ship in the upright and heeled condition and M is the metacenter. The metacenter is considered to be fixed for small angles of heel; however, at larger angles of heel the metacenter can no longer be considered fixed and other means must be found to calculate the ship's stability. The metacenter can be calculated using the formulae: KM = KB + BM

Where B is the center of buoyancy, I is the Second moment of area of the water plane in meters4 and V is the volume of displacement in meters3. KM is the distance from the keel (bottom middle section of the ship) to the metacenter. Different centers: The center of buoyancy is the center of the volume of water which the hull displaces. This point is referred to as B in naval architecture. The center of gravity of the ship itself is known as G in naval architecture. When a ship is stable, the center of buoyancy is vertically in-line with the center of gravity of the ship.The metacenter is the point where the lines intersect (at angle ) of the upward force of buoyancy of d. When the ship is vertical it lies above the center of gravity and so moves in the opposite direction of heel as the

Initially the second moment of area increases as the surface area increases, increasing BM, so M moves to the opposite side, thus increasing the stability arm. When the deck is flooded, the stability arm rapidly decreases.The distance between the center of gravity and the metacenter is called the metacentric height, and is usually between one and two meters. This distance is also abbreviated as GM. As the ship heels over, the center of gravity generally remains fixed with respect to the ship because it just depends upon position of the ship's weight and cargo, but the surface area increases, increasing BM. The metacenter, M, moves up and sideways in the opposite direction in which the ship has rolled and is no longer directly over the center of gravity. The righting force on the ship is then caused by gravity pulling down on the hull, effectively acting on its center of gravity, and the buoyancy pushing the hull upwards; effectively acting along the vertical line passing through the center of buoyancy and the Metacenter above it. This creates a torque which rotates the hull upright again and is proportional to the horizontal distance between the center of gravity and the metacenter. The metacentric height is important because the righting force is proportional to the metacentric height times the sine of the angle of heel. When setting a common reference for the centers, the molded (within the plate or planking)line of the keel (K) is generally chosen; thus, the reference heights are: KB - Center of Buoyancy KG - Center of Gravity KM - Metacenter

Fig No: 18
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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

Righting arm: Sailing vessels are designed to operate with a higher degree of heel than motorized vessels and the righting torque (or righting moment) at extreme angles is of high importance. This is expressed as the righting arm (known also as GZ see diagram): the horizontal distance between the center of buoyancy and the center of gravity. GZ = GM sin Monohulled sailing vessels are designed to have a positive righting arm (the limit of positive stability) at anything up to 120 of heel, although as little as 90 (masts flat to the surface) is acceptable. As the displacement of the hull at any particular degree of list is not proportional, calculations can be difficult and the concept was not introduced formally into naval architecture until about 1970. Stability: GM and rolling period: GM has a direct relationship with a ship's rolling period. A ship with a small GM will be "tender" - have a long roll period - an excessively low or negative GM increases the risk of a ship capsizing in rough weather (see HMS Captain or the Vasa). It also puts the vessel at risk of potential for large angles of heel if the cargo or ballast shifts (see Cougar Ace). A ship with low GM is less safe if damaged and partially flooded because the lower metacentric height leaves less safety margin. For this reason, maritime regulatory agencies such as the IMO specify minimum safety margins for sea-going vessels.A larger metacentric height, on the other hand can cause a vessel to be too "stiff"; excessive stability is uncomfortable for passengers and crew. This is because the stiff vessel quickly responds to the sea as it attempts to assume the slope of the wave. An overly stiff vessel rolls with a short period and high amplitude which results in high angular acceleration. This increases the risk of damage to the ship as well as the risk cargo may break loose or shift. In contrast a "tender" ship lags behind the motion of the waves and tends to roll at lesser amplitudes. A passenger ship will typically have a long rolling period for comfort, perhaps 12 seconds while a tanker or freighter might have a rolling period of 6 to 8 seconds. The period of roll can be estimated from the following equation.

Damaged Stability: If a ship floods, the loss of stability is due to the increase in B, the Center of Buoyancy, and the loss of water plane area - thus a loss of the water plane moment of inertia - which decreases the metacentric height. This additional mass will also reduce freeboard (distance from water to the deck) and the ship's angle of down flooding (minimum angle of heel at which water will be able to flow into the hull). The range of positive stability will be reduced to the angle of down flooding resulting in a reduced righting lever. When the vessel is inclined, the fluid in the flooded volume will move to the lower side, shifting its center of gravity toward the list, further extending the heeling force. This is known as the free surface effect (see below). Free surface effect: In tanks or spaces that are partially filled with a fluid or semi-fluid (fish, ice or grain for example) as the tank is inclined the surface of the liquid, or semi-fluid, stays level. This results in a displacement of the centre of gravity of the tank or space relative to the overall center of gravity. The effect is similar to that of carrying a large flat tray of water. When an edge is tipped, the water rushes to that side which exacerbates the tip even further. The significance of this effect is proportional to the square of the width of the tank or compartment, so two baffles separating the area into thirds will reduce the displacement of the centre of gravity of the fluid by a factor of 9. This is always of significance in ship fuel tanks or ballast tanks, tanker cargo tanks, and in flooded or partially flooded compartments of damaged ships. Another worrying feature of free surface effect is that a positive feedback loop can be established, in which the period of the roll is equal or almost equal to the period of the motion of the centre of gravity in the fluid, resulting in each roll increasing in magnitude until the loop is broken or the ship capsizes.This has been significant in historic capsizes, most notably the MS Herald of Free Enterprise. Transverse and Longitudinal Metacentric heights: There is also a similar consideration in the movement of the metacentre forward and aft as a ship pitches. Metacenters are usually separately calculated for transverse (side to side)rolling motion and for lengthwise longitudinal pitching motion. These are variously knownas and , GM(t) and GM (l), or sometimes GMt and GMl . Technically, there are different metacentric heights for any combination of pitch and roll motion, depending on the moment of inertia of the water plane area of the ship around the axis of rotation under consideration, but they are normally only calculated and stated as specific values for the limiting pure pitch and roll motion.

Where g is the gravitational constant, k is the radius of gyration about the longitudinal axis through the center of gravity and is the stability index.

Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

Measuring metacentric height: The metacentric height is normally estimated during the design of a ship but can be determined by an inclining experiment or Inclining test once it has been built. This can also be done when a ship or offshore floating platform is in service. It can be calculated by theoretical formulas based on the shape of the structure. The angle(s) obtained during the inclining experiment are directly related to GM (See Righting arm, above). Prior to the inclining experiment, an accounting of the 'as-built' center of gravity is done; knowing KM and KG, the metacentric height (GM) can be calculated. Arrangement of floats: Identifying the center of gravity of the vehicle practically, floats with draft dimension are arranged in the places such that, these floats balance the vehicle to maintain equilibrium.

any transducer. Transducer efficiency is defined as the ratio of the power output in the desired form to the total power input. Type of sensors: Light, motion, temperature, magnetic fields, gravity, humidity, vibration, Pressure, electrical fields, sound, and other physical aspects of the external environment. Physical aspects of the internal environment, such as stretch, motion of the organism, and position of appendages. Environmental molecules, including toxins, nutrients, and pheromones. Estimation of biomolecules interaction and some kinetics parameters. Internal metabolic milieu, such as glucose level, oxygen level, or osmolality. Internal signal molecules, such as hormones, neurotransmitters, and cytokines. Differences between proteins of the organism itself and of the environment or alien creatures. CIRCUIT

Fig No: 19, Marine-Reconnoiter Top View

Not only these floats help to maintain equilibrium, if any tilting of the vehicle occurred due to various conditions of water, as the air column in the floats always try to occupy the largest surface area, couple is formed , this couple gives a form of rotation to the vehicle, therefore the vehicle is allowed to float in only one direction. This is the region where revolution has been taken place in this vehicle. Due to any strong upcoming waves, if the vehicle is overturned or disturbed, the air column in the floats balance the vehicle and the vehicle is rolled back to its original position. Magnetic sensor: Definition:A device that is actuated by a magnet. Definition of sensor: A mechanical device sensitive to light, temperat ure, radiationlevel, or the like, that transmits a signal to a measuring or control instrument. Definition of transducer: A transducer is an electronic device that converts energy from one form to another. Common examples include microphones, loudspeakers, thermometers, position and pressure sensors, and antenna. Although not generally thought of as transducers, photocells, LEDs (lightemitting diodes), and even common light bulbs are transducers.Efficiency is an important consideration in
Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

Fig No: 20, Line Diagram

Components: Battery: 12v dc power supply Buzzer: An electric signaling device, such as a doorbell, that makes a buzzing sound. Magnetic sensor: This sensor contains open switch as shown in figure. This sensor closes it switch when it is brought nearer to the magnetic material, as the magnetic material produces electrical field around it, the sensor switch is closed such that this sensor allows the flow of current from battery to sensor and to buzzer. As buzzer receives the electrical input due to the sensor detection of magnetic material this buzzer gives the buzzing noise, this indicates that there is magnetic material found in the searching area. Sensor circuit construction and working: Battery negative terminal is connected to positive terminal of the magnetic sensor.
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MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

Battery positive terminal is connected to buzzer negative terminal. Sensor negative terminal is connected to buzzer positive terminal. All these connections are done using connecting wires.

Initially the sensor circuit is in opened, therefore there is no current passing from battery to sensor to buzzer.If this sensor traced by any of the permanent magnetic material, the sensor switch is closed, this is due to that the permanent magnet generates electrical field around it, this closes the circuit of sensor, therefore current passes and finally buzzer is obtained indicating the magnetic material is found. Features: Non-contact, magnetic linear measuring sensor Low cost alternative to linear encoders Max. resolution 10 m with external quadrature electronics Description: MLFK magnet encoders provide linear position information by non- contact tracking of a magnetic strip based on a magneto resistive sensor. Depending on the angle between the sensor and the magnetic eld, the device generates analog signals containing the angular information. These signals are further fed into an electronics circuit for additional conditioning and processing. The rugged and easy to mount linear encoder generates 25 pulses per pole (1 mm width) when used in conjunction with a magnetic strip. The IP 67 protected sensor contains absolutely no moving parts and is not subject to wear when in operation RESULTS, ANALYSIS & PROTOTYPE TESTING Body Movement: (Forward & Backward) & (Left and Right) Velocity analysis:

Average velocity: 0.267 m/s. Average acceleration:0.103 m2/s. Body Movement: (Up & Down): Depth (velocity and acceleration analysis): Velocity analysis:

Average velocity:0.32 m/s. This measure can be varied for applications, depth of work by increasing or decreasing the floats and weight. Average acceleration:0.181 m2/s. PROTOTYPE TESTING

Fig No: 21, Marine-Reconnoiter

Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India 19

MARINE RECONNOITER

IS J AA

International Journal of Systems , Algorithms & Applications

Prototype is tested in various density conditions of CONCLUSION water. 1. Finally a well designed structure, which can traverse at different depths and can also row efficiently in the Hot water Cold water water with different densities. As the density of hot water in less comparative to the 2. The magnetic sensor in this vehicle is effectively reccold water, vehicle moved fastly with certain motor powognize magnetic materials under water, where man er cannot enter easily . But vehicle traversed in both the condition efficient- 3. The well designed arm will effectively grip different ly, just by increasing power to motor slightly shapes of objects. 4. The geometric shape of the vehicle is arranged such Gripper Arm: that the orientation of the body maintain steadily without effecting the external forces, i.e. Even though the This is one of the highlight of this prototype as it works with one sided power source, it not only saves envehicle is thrown into the water, the vehicle itself ergy, but it also holds the object tightly. turned to in a right side, due to the effect of metacentric height and center of gravity. It holds an object of length 4cm and a weight of 500gms. Tabular data of objects in a range gripper can hold: 5. The sensor output is connected to a buzzer which highlights the identification of magnetic materials under water. 6. Its sinks underwater very fast and it can settle inside the water and can resist to various force inside the water. 7. Its anchor blocks not only helps vehicle to be resistant to water conditions, but it also gives a stage to collect sample of soil or it can perform required operations by assembling those components on it.

Volume 2, Issue ICAEM12, February 2012, ISSN Online: 2277-2677 ICAEM12|Jan20,2012|Hyderabad|India

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