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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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.↗
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.↗
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↗
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↗
Utilizing Ocean Thermal Energy in a Submarine Robot
A proposed system would exploit the ocean thermal gradient for recharging 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 depths, measuring temperature and salinity. The proposed system is related to, but not the same as, previously reported ocean thermal energy conversion (OTEC) systems that exploit the ocean thermal gradient but consist of stationary apparatuses that span large depth ranges. The system would include a turbine driven by working fluid subjected to a thermodynamic cycle. CO2 has been provisionally chosen as the working fluid because it has the requisite physical properties for use in the range of temperatures expected to be encountered in operation, is not flammable, and is much less toxic than are many other commercially available refrigerant fluids. The system would be housed in a pressurized central compartment in a UUV equipped with a double hull (see figure). The thermodynamic cycle would begin when the UUV was at maximum depth, where some of the CO2 would condense and be stored, at relatively low temperature and pressure, in the annular volume between the inner and outer hulls. The cycle would resume once the UUV had ascended to near the surface, where the ocean temperature is typically greater than or equals 20 C. At this temperature, the CO2 previously stored at depth in the annular volume between the inner and outer hulls would be pressurized to approx. equals 57 bar (5.7 MPa). The pressurized gaseous CO2 would flow through a check valve into a bladder inside the pressurized compartment, thereby storing energy of the relatively warm, pressurized CO2 for subsequent use after the next descent to maximum depth.
Jones, Jack↗
Improved OTEC System for a Submarine Robot
An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the 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 depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM 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 PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.
Chao, Yi↗
Development of a High Reliability Compact Air Independent PEMFC Power System
Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions
Wynne, B.↗
High energy efficiency and high power density proton exchange membrane fuel cells: Electrode kinetics and mass transport
The development of proton exchange membrane (PEM) fuel cell power plants with high energy efficiencies and high power densities is gaining momentum because of the vital need of such high levels of performance for extraterrestrial (space, underwater) and terrestrial (power source for electric vehicles) applications. Since 1987, considerable progress has been made in achieving energy efficiencies of about 60 percent at a current density of 200 mA/sq cm and high power densities (greater than 1 W/sq cm) in PEM fuel cells with high (4 mg/sq cm) or low (0.4 mg/sq cm) platinum loadings in electrodes. The following areas are discussed: (1) methods to obtain these high levels of performance with low Pt loading electrodes - by proton conductor impregnation into electrodes, localization of Pt near front surface; (2) a novel microelectrode technique which yields electrode kinetic parameters for oxygen reduction and mass transport parameters; (3) demonstration of lack of water transport from anode to cathode; (4) modeling analysis of PEM fuel cell for comparison with experimental results and predicting further improvements in performance; and (5) recommendations of needed research and development for achieving the above goals.
Supramaniam Srinivasan↗
Performance and Safety to NAVSEA Instruction 9310.1A of Lithium-thionyl Chloride Reserve Batteries
The design, performance and safety of a fully engineered, selfcontained Li/SOCl2 battery as the power source for underwater applications. In addition to meeting the performance standards of the end user this battery is successfully tested under the rigorous safety conditions of NAVSEA Instruction 9310.1A for use on land, aircraft and surface ships.
Hall, J. C.↗
The use of underwater dynamometry to evaluate two space suits
Four Astronauts were instrumented and donned one of three extravehicular activity (EVA) suits: the currently in use shuttle suit (STS), the Mark III (MK3), and the AX5. The STS was used as the comparison suit because of approved status. Each subject performed ten different exercises in each suit in three different manners (static, dynamic and fatigue) in two different environments, WETF and KC-135 (KC-135 not completed as of this report). Data were recorded from a flight qualified underwater dynamometer (Cybex power head) with a TEAC multichannel recorder/tape and downloaded into the VAX computer system for analysis. Also direct hard copy strip chart recordings were made for backup comparisons. Data were analyzed using the ANOVA procedure and results were graphed and reported without interpretation to the NASA/JSC ABL manager.
Squires, W. G.↗
A design methodology for neutral buoyancy simulation of space operations
Neutral buoyancy has often been used in the past for EVA development activities, but little has been done to provide an analytical understanding of the environment and its correlation with space. This paper covers a set of related research topics at the MIT Space Systems Laboratory, dealing with the modeling of the space and underwater environments, validation of the models through testing in neutral buoyancy, parabolic flight, and space flight experiments, and applications of the models to gain a better design methodology for creating meaningful neutral buoyancy simulations. Examples covered include simulation validation criteria for human body dynamics, and for applied torques in a beam rotation task, which is the pacing crew operation for EVA structural assembly. Extensions of the dynamics models are presented for powered vehicles in the underwater environment, and examples given from the MIT Space Telerobotics Research Program, including the Beam Assembly Teleoperator and the Multimode Proximity Operations Device. Future expansions of the modeling theory are also presented, leading to remote vehicles which behave in neutral buoyancy exactly as the modeled system would in space.
Akin, David L.↗
A simple, inexpensive, sinusoidal pressure generator.
Sinusoidal pressure generator for catheter manometer systems calibration by driving underwater loudspeaker with oscillograph power amplifier
Stegall, H. F.↗
Controllable Sonar Lenses and Prisms Based on ERFs
Sonar-beam-steering devices of the proposed type would contain no moving parts and would be considerably smaller and less power-hungry, relative to conventional multiple-beam sonar arrays. The proposed devices are under consideration for installation on future small autonomous underwater vehicles because the sizes and power demands of conventional multiple-beam arrays are excessive, and motors used in single-beam mechanically scanned systems are also not reliable. The proposed devices would include a variety of electrically controllable acoustic prisms, lenses, and prism/lens combinations both simple and compound. These devices would contain electrorheological fluids (ERFs) between electrodes. An ERF typically consists of dielectric particles floating in a dielectric fluid. When an electric field is applied to the fluid, the particles become grouped into fibrils aligned in rows, with a consequent increase in the viscosity of the fluid and a corresponding increase in the speed of sound in the fluid. The change in the speed of sound increases with an increase in the applied electric field. By thus varying the speed of sound, one varies the acoustic index of refraction, analogously to varying the index of refraction of an optical lens or prism. In the proposed acoustic devices, this effect would be exploited to control the angles of refraction of acoustic beams, thereby steering the beams and, in the case of lenses, controlling focal lengths.
Bar-Cohen, Yoseph↗
Development of a PEMFC Power System with Integrated Balance of Plant
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. Batteries are usually employed in these applications, but the energy density and therefore the mission duration are limited with current battery technology. At a certain energy or mission duration requirement, other means to get long duration power become feasible. For example, above 10 kW-hrs liquid oxygen and hydrogen have better specific energy than batteries and are preferable for energy storage as long as a compact system of about 100 W/liter is achievable to convert the chemical energy in these reactants into power. Other reactant forms are possible, such as high pressure gas, chemical hydrides or oxygen carriers, but it is essential that the power system be small and light weight. Recent fuel cell work, primarily focused on NASA applications, has developed power systems that can meet this target power density. Passive flow-through systems, using ejector driven reactant (EDR) flow, integrated into a compact balance of plant have been developed. These systems are thermally and functionally integrated in much the same way as are automotive, air breathing fuel cell systems. These systems fit into the small volumes required for AUV and future NASA applications. Designs have been developed for both a 21" diameter and a larger diameter (LD) AUV. These fuel cell systems occupy a very small portion of the overall energy system, allowing most of the system volume to be used for the 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.
Wynne, B.↗