A Self-Powered Underwater Robot for Ocean Exploration and Beyond
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SOLO-TREC (Sounding Oceanographic Lagrangrian Obse↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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A unified simulation framework for wave energy powered underwater vehicle docking and charging
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Energy & Fuels↗
Extracting energy from ocean thermal and salinity gradients to power unmanned underwater vehicles: State of the art, current limitations, and future outlook
Thermal gradient energy-generation technologies for powering unmanned underwater vehicles (UUVs) or autonomous sensing systems in the ocean are mainly in the research development phase or commercially available at a limited scale, and salinity-gradient energy-generation technologies have not been adequately researched yet. The demand for self-powered UUVs suitable for long-term deployments has been growing, and further research related to small-scale ocean gradient energy systems is needed. In this study, we conducted a comprehensive review about harvesting energy from ocean thermal or salinity gradients for powering UUVs, focusing on gliders and profiling floats. Thermal gradient energy systems for UUVs based on phase change materials (PCM) cannot provide the energy required for powering autonomous sensing systems because of the systems' low energy conversion efficiency. Besides reducing energy consumption by developing more efficient electrical-mechanical systems, enhancing the thermal conductivity of the PCMs may help address this challenge by increasing the power generation rate of the UUVs. Several other emerging technologies, such as thermoelectric generators, shape memory alloys, and small-scale thermodynamic cycle systems, have shown potential for powering UUVs, but they are still only at the laboratory testing or conceptual design phase. The most advanced power generation technologies based on salinity gradients, reverse electrodialysis and pressure-retarded osmosis, are still not economically viable for large-scale deployment, mainly because of the high cost of the components required to operate in harsh saline environments. Our feasibility evaluation showed that existing salinity gradient power generation technologies are not directly feasible for powering UUVs in the open ocean.
16 TIDAL AND WAVE POWER↗
Preliminary Investigation of an Underwater Ramjet Powered by Compressed Air
Part I contains the results of a preliminary experimental investigation of a particular design of an underwater ramjet or hydroduct powered by compressed air. The hydroduct is a propulsion device in which the energy of an expanding gas imparts additional momentum to a stream of water through mixing. The hydroduct model had a fineness ratio of 5.9, a maximum diameter of 3.2 inches, and a ratio of inlet area to frontal area of 0.32. The model was towed at a depth of 1 inch at forward speeds between 20 and 60 feet per second for airflow rates from 0.1 to 0.3 pound per second. Longitudinal force and pressures at the inlet and in the mixing chamber were determined. The hydroduct produced a positive thrust-minus-drag force at every test speed. The force and pressure coefficients were functions primarily of the ratio of weight airflow to free-stream velocity. The maximum propulsive efficiency based on the net internal thrust and an isothermal expansion of the air was approximately 53 percent at a thrust coefficient of 0.10. The performance of the test model may have been influenced by choking of the exit flow. Part II is a theoretical development of an underwater ramjet using air as "fuel." The basic assumption of the theoretical analysis is that a mixture of water and air can be treated as a compressible gas. More information on the properties of air-water mixtures is required to confirm this assumption or to suggest another approach. A method is suggested from which a more complete theoretical development, with the effects of choking included, may be obtained. An exploratory computation, in which this suggested method was used, indicated that the effect of choked flow on the thrust coefficient was minor.
Mottard, Elmo J.↗
MODELING AND OPTIMIZATION OF A PCM-BASED OCEAN THERMAL ENERGY HARVESTER FOR POWERING UNMANNED UNDERWATER VEHICLES
As oceans cover over 70% of the planet’s surface, they represent a large reservoir of resources that remained vastly untapped. Uncrewed Underwater Vehicles (UUVs) are becoming key technology for ocean exploration. Ocean thermal gradient is a permanent and reliable energy source that can be used to power UUVs using phase change material (PCM)-based thermal engines. However, the main drawback of this technology is its low conversion efficiency. When using PCM-based thermal engines to power UUVs, there are different energy conversion stages, thermal-hydraulic, hydraulic-kinetic, kinetic-electrical, dependent of a wide variety of parameters. Thus, optimization of the overall energy conversion is still a challenge for powering the increasing energy demanding UUVs for long missions. The goal of this study is to propose a PCM-based ocean thermal energy harvesting system for powering the Solo II float. Using the ocean thermal energy reduces the cost for battery replacement and expands the float’s mission time. For this purpose, we developed a multiphysics model for a system consisting of thermal material, hydraulic, and electrical systems. This system is designed to provide the electrical power needed for the instruments aboard the underwater vehicle. The models of the hydraulic and the electric systems are implemented in MATLAB-Simulink/Simscape environment. The final model developed can provide 13.66 kJ of electrical energy, which is more than 1.5 times the energy requirement per cycle for the SOLO II float.
Ouro-Koura, Habilou↗
Predictive model using artificial neural network to design phase change material-based ocean thermal energy harvesting systems for powering uncrewed underwater vehicles
Uncrewed Underwater Vehicles (UUVs) are a major beneficiary of the phase change material (PCM)-based ocean thermal energy harvesting technology for their mission needs. However, this technology relies on different parameters and energy conversion steps that could be critical to the general energy generation efficiency. Sea trials showed that the design performed lower than their laboratory design specifications. This underperformance results from different factors, mainly the UUV’s trajectory, travel time, underwater ocean currents, temperature fluctuations, and biofouling on the heat exchanger due to long term underwater operations. Therefore, there exists a need to continuously monitor the ambient energy harvesting system and predict system performance, for mission planning purposes. Two major parameters influencing the energy harvesting system include the final pressure inside the hydraulic energy storage vessel or accumulator, and the electrical load value. Here, this work focuses on the hydraulic to electric energy conversion system. Therefore, a combination of numerical model and experimental testing is used to develop a predictive model using artificial neural network using MATLAB. After validation with experimental testing, 1000 data samples obtained from the numerical model are used to train the ANN. Compared to the experimental results, the developed ANN model can predict in less than a second the designed benchtop system’s total efficiency with less than 15 percent maximum error range. This predictive model development represents a cost-effective way for optimization and a computational energy efficient mode aboard UUVs for mission planning for deployed UUVs using PCM-based ocean thermal energy harvesting technology.
30 DIRECT ENERGY CONVERSION↗
Efficient Hydraulic-to-electric Energy Conversion for PCM-based Ocean Thermal Gradient Energy System to Power Uncrewed Underwater Vehicles
Since the 2000, there have been numerous investigations into electrical energy storage types that use ocean thermal-to-electricity conversion techniques. Field tests have demonstrated that this technology is feasible for UUVs with long-term missions of over 3,000 km per deployment. Nonetheless, the energy generated by this method is not sufficient to meet the energy requirements of Unscrewed Underwater Vehicles (UUVs). The objective of this study is to design a highly effective ocean thermal gradient energy system to support long-term missions of a UUV. To enhance the performance of the thermal gradient energy system, we have developed a hybrid type (buoyancy regulation and electrical storage). Phase Change Material (PCM)-based energy harvesting system to facilitate efficient UUV operations. A prototype of the hydraulic-to-electric conversion system was implemented, and experimental findings indicate that the hybrid system successfully delivers hydraulic energy for buoyancy change and improved efficiency of hydraulic-to-electric energy conversion, demonstrating its potential as a promising technology for supporting long-term UUV missions.
Deng, Zhiqun↗
Underwater vehicle propulsion and power generation
An underwater vehicle includes a shaft with a propeller disposed thereon; a generator/motor having a stator and a rotor, the rotor being operable to rotate with the propeller; at least one energy storage device connected to the generator/motor; and a controller for setting the generator/motor in a charge mode, a propulsion mode and an idle mode.
Jones, Jack A.↗
Two-watt radioisotope power generators for underwater applications
Materials and design considerations are discussed for a low-cost, reliable radio-isotope-fueled thermoelectric generator for use in an undersea application. Plutonium has been selected as fuel, and the generator has to meet design goals of 2 watts after 20 years with a direct output voltage of 6-8 volts. The pressed and sintered form of Bi2Te3 appears to be the most appropriate thermoelectric material. Both fibrous and multilayer foil insulation could be used with proper processing and quality control, but there is less risk with fibrous type insulation. Min-K 1400 is recommended with a nitrogen cover gas. The heat source recommended is a three-layer capsule using T-111 for both the liner and strength member with an outer liner of Hastelloy-C.
Caputo, R. S.↗
A Dive into Underwater Solar Cells
Our oceans are vast, mostly unexplored and difficult to monitor. Large-scale implementation of a fully autonomous 'Internet of Underwater Things' would transform how we collect and share data from this domain; however, deployment is prohibited by the lack of persistent power sources. In principle, underwater solar-energy generation can complement the use of batteries and provide a solution, although dedicated research is needed since traditional silicon solar cells do not perform well underwater due to water's strong absorption of near-infrared light. In this Perspective we present examples of solar-powered underwater applications and discuss which types of solar-harvesting materials could be appropriate, including GaInP variants, CdTe, organic semiconductors, and perovskite semiconductors. We also discuss challenges that need to be addressed, such as the development of effective antifouling coatings and new certification standards given that underwater conditions are starkly different from those in terrestrial environments.
antifouling coatings↗
Approaches to attributing underwater noise to a wave energy converter
Radiated noise from marine energy harvesting is of environmental and engineering interest. Here, drifting hydrophones measure underwater noise in the vicinity of a relatively small wave energy converter. A statistical approach is demonstrated for attributing range-dependent, commonly occurring sounds in the frequency band from 90 to 600 Hz. Time-delay-of-arrival localization is then demonstrated for attribution of individual acoustic events likely associated with the power takeoff and wave-hull interactions. Because the radiated noise from the wave energy converter falls below ambient levels at a range of approximately 150 m, it is unlikely to substantially affect marine life at greater distance.
16 TIDAL AND WAVE POWER↗
Mooring Load Monitoring of a Wave Energy Converter Using a Self-Synchronizing Underwater Acoustic Network
A self-synchronizing underwater acoustic network, designed for remote monitoring of mooring loads in Wave Energy Converters (WEC), has been developed and tested. This network uses Time Division Multiple Access and operates self-contained with the ability for users to remotely transmit commands to the network as needed. Each node is a self-contained unit, consisting of a protocol adaptor board, an underwater acoustic modem and a battery pack. A node can be connected to a load cell, to a topside user or to the WEC. Every node is swapable. The protocol adaptor board, named Protocol Adaptor for Digital LOad Cell (PADLOC) supports a variety of digital load cell message formats (CAN, MODBUS, custom ASCII) and underwater acoustic modem serial formats. PADLOC enables topside users to connect to separate load cells through a user-specific command.
acoustic↗
The multifunctional use of an aqueous battery for a high capacity jellyfish robot
The batteries that power untethered underwater vehicles (UUVs) serve a single purpose: to provide energy to electronics and motors; the more energy required, the bigger the robot must be to accommodate space for more energy storage. By choosing batteries composed primarily of liquid media [e.g., redox flow batteries (RFBs)], the increased weight can be better distributed for improved capacity with reduced inertial moment. Here, we formed an RFB into the shape of a jellyfish, using two redox chemistries and architectures: (i) a secondary ZnBr 2 battery and (ii) a hybrid primary/secondary ZnI 2 battery. A UUV was able to be powered solely by RFBs with increased volumetric (Q~ 11 ampere-hours per liter) and areal (108 milliampere-hours per square centimeter) energy density, resulting in a long operational lifetime (T~ 1.5 hours) for UUVs composed of primarily electrochemically energy-dense liquid (~90% of the robot’s weight).
Science & Technology - Other Topics↗
Power systems for ocean regional cabled observatories
Development of power systems is the most challenging technical issue in the design of ocean regional cabled observatories. ARENA and NEPTUNE are two ocean regional cabled observatory networks with aims that are at least broadly similar. Yet the two designs are quite different in detail. This paper outlines the both systems and explores the reasons for the divergence of design, and shows that it arose because of differences in the priority of requirements.
cabled subsea observatory↗
Development of a High Reliability Compact Air Independent PEMFC Power System
Autonomous Underwater Vehicles (AUV's) have received increasing attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Compact, neutrally buoyant power systems are needed for both small and large vehicles. Historically, batteries have been employed in these applications, but the energy density and therefore mission duration are limited with current battery technologies. Vehicles with stored energy requirements greater than approximately 10 kWh have an alternate means to get long duration power. High efficiency Proton Exchange Membrane (PEM) fuel cell systems utilizing pure hydrogen and oxygen reactants show the potential for an order of magnitude energy density improvement over batteries as long as the subsystems are compact. One key aspect to achieving a compact and energy dense system is the design of the fuel cell balance of plant (BOP). Recent fuel cell work, initially focused on NASA applications requiring high reliability, has developed systems that can meet target power and energy densities. Passive flow through systems using ejector driven reactant (EDR) circulation have been developed to provide high reactant flow and water management within the stack, with minimal parasitic losses compared to blowers. The ejectors and recirculation loops, along with valves and other BOP instrumentation, have been incorporated within the stack end plate. In addition, components for water management and reactant conditioning have been incorporated within the stack to further minimize the BOP. These BOP systems are thermally and functionally integrated into the stack hardware and fit into the small volumes required for AUV and future NASA applications to maximize the volume available for reactants. These integrated systems provide a compact solution for the fuel cell BOP and maximize the efficiency and reliability of the system. Designs have been developed for multiple applications ranging from less than 1 kWe to 70 kWe. These systems occupy a very small portion of the overall energy system, allowing most of the system volume to be used for reactants. The fuel cell systems have been optimized to use reactants efficiently with high stack efficiency and low parasitic losses. The resulting compact, highly efficient fuel cell system provides exceptional reactant utilization and energy density. Key design variables and supporting test data are presented. Future development activities are described.
Vasquez, Arturo↗
Multi frame radiography of supersonic water jets interacting with a foil target
Pulsed-power-driven underwater electrical explosion of cylindrical or conical wire arrays produces supersonic water jets that emerge from a bath, propagating through the air above it. Interaction of these jets with solid targets may represent a new platform for attaining materials at high pressure (>1010 Pa) conditions in a university-scale laboratory. However, measurements of the internal structure of such jets and how they interact with targets are difficult optically due to large densities and density contrasts involved. We utilized multi-frame x-ray radiographic imaging capabilities of the ID19 beamline at the European Synchrotron Radiation Facility to explore the water jet and its interaction with a 50 μm thick copper foil placed a few mm from the surface of water. The jet was generated with a ∼130 kA-amplitude current pulse of ∼450 ns rise time applied to a conical wire array. X-ray imaging revealed a droplet-type structure of the jet with an average density of <400 kg/m3 propagating with a velocity of ∼1400 m/s. Measurements of deformation and subsequent perforation of the target by the jet suggested pressures at the jet–target interface of ∼5 × 109 Pa. The results were compared to hydrodynamic simulations for better understanding of the jet parameters and their interaction with the foil target. These results can be used in future research to optimize the platform, and extend it to larger jet velocities in the case of higher driving currents supplied to the wire array.
Physics↗
Design of the NEPTUNE power system
The NEPTUNE power system is required to make available at each location the largest amount of power possible, using conventional submarine telecommunications cable.
NEPTUNE power underwater converter↗
Alternative OTEC Scheme for a Submarine Robot
A proposed system for exploiting the ocean thermal gradient to generate power would be based on the thawing-expansion/ freezing-contraction behavior of a wax or perhaps another suitable phase-change material. The power generated by this system would be used to recharge the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and various depths, measuring temperature and salinity. This proposed system would be an alternative to another proposed ocean thermal energy conversion (OTEC) system that would serve the same purpose but would utilize a thermodynamic cycle in which CO2 would be the working fluid. That system is described in Utilizing Ocean Thermal Energy in a Submarine Robot (NPO-43304), immediately following this brief. The main advantage of this proposed system over the one using CO2 is that it could derive a useful amount of energy from a significantly smaller temperature difference. At one phase of its operational cycle, the system now proposed would utilize the surface ocean temperature (which lies between 15 and 20 C over most of the Earth) to melt a wax (e.g., pentadecane) that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the wax. The melting or freezing causes the wax to expand or contract, respectively, by about 8 volume percent.
Jones, Jack↗