Savitribai Phule Pune University

ACKNOWLEDGEMENT

I would first like to thank my parents for their endless love and support. I
express my sincere thanks to Prof.Amol Gadhave, whose supervision,
inspiration and valuable discussion, has helped me tremendously to complete
my Seminar.

I am grateful Prof. N K Gavade, Head of Mechanical Engineering Dept.,

Dr. M S Rohokale, Principal of SKNSITS Lonavala for his direct or indirect
help in the completion of this Seminar.

Last but not the least, this acknowledgement would be incomplete

without rendering my sincere gratitude to all my friends and those people who
have helped me either directly or indirectly from starting stage of this project to
this stage. Thanks a lot to all them for their love and help.

Mr. Prasad Sanjay Jadhav

( Exam Seat No. )

SKNSITS, Lonavala, Department of Mechanical Engineering.

i
 Savitribai Phule Pune University

LIST OF FIGURES

Sr. No. Topic Page No.

Jet
1 2

Bluefin-12 AUV
2 3

Sonar Scanning
3 5

Long Base Line Navigation System (LBL

4 6

AUV Propeller
5 7

Oil Rig
6 8

Jet
7 8

Sea Duane 2 AUV From Flinders University

8 Adelaide Australia. 9

NOMENCLATURE

SKNSITS, Lonavala, Department of Mechanical Engineering.

ii
 Savitribai Phule Pune University

f Frequency (Hz)

o Wavelength

Co Velocity of sound in air

p Amplitude of pressure wave (N/m2)

V Volume (m3)

ρ Density of material (kg/m3)

u Pressure wave normal velocity (m/s)

h Thickness of material

τtr Sound transmission coefficient

α Sound Absorption coefficient

Q quality factor

Δf bandwidth

w circular frequency (rad/ sec)

h’ Effective thickness of the perforated screen (m)

h Actual thickness of the perforated screen(m)

l End correction due to conversing and diverging nature of fluid (m)

Ω Perforation ratio of the plate

TABLE OF CONTENTS

SKNSITS, Lonavala, Department of Mechanical Engineering.

iii
 Savitribai Phule Pune University

ACKNOWLEDGEMENTS I
LIST OF FIGURES II
NOMENCLATURE III
Chapters

1. Introduction 1
1.1 History 1
1.2 Overview 2
1.3 Classification 3
1.4 Vehicle Designs 3
2 Autonomous Under Water Vehicle 4
2.1 Sensors 5
3 Navigation 5
4 Propulsion 7
5 Applications 7
5.1 Commercial 7
5.2 Military 8
5.3 Research 9
6 Future Possibilities 10
Mechanism Of The Water-Jet Propulsion
7 10
System
7.1 Power Supply 11
Principles And Modelling Of The Propulsion
7.1 11
System
7.3 Underwater Experiments For Basic Motions 12
7.4 Experiment Of Horizontal Motion 12
7.5 Case Study 14
8 Conclusions 16
9 References 17

SKNSITS, Lonavala, Department of Mechanical Engineering.

iv