STATIC STABILITY AND BUOYANCY

Rotational stability depends on the relative lines of action of

forces on an object. The upward buoyancy force on an object
acts through the center of buoyancy, being the centroid of the
displaced volume of fluid. The weight force on the object acts
through its center of gravity. A buoyant object will be stable if
the center of gravity is beneath the center of buoyancy
because any angular displacement will then produce a 'righting
moment'. The pressure hull has a buoyancy of 48lbs and is
positioned on top rack of the main frame so that centre of
buoyancy is above centre of mass which provides a counter
acting couple in case of roll or pitch and returns the body to
equilibrium position. The buoyancy is kept just positive.


I. PNEUMATIC SYSTEMS
Pneumatic systems consists of major 3 components Torpedo
launcher, Grabber and dropper. 12gm compressed CO
2

cartridges are used as source of air. The system consist a flow
regulator + air filter connected to a pressure manifold. For
torpedo launcher 3/2 way spring return solenoid valve is used
which is connected to a non-return valve which further propels
torpedo. Grabber constitutes of 5/2 way spring return solenoid
valve which actuates a 5cm stroke double acting cylinder.
Dropper system consists of single acting cylinder actuated by
3/2 way spring return solenoid valve.The schematic of
pneumatic system is shown below














Fig a. Schematic of Pneumatic system













II. STRUCTURAL ANALYSIS

I. STRUCTURAL ANALYSIS
Static structural analysis of the frame is done to a depth of
50 feet to observe von mises stresses and deformation under
load.The frame was found to be robust and non-collapsible
with a factor of safety of 4.8.










Fig b. Grabber