3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014

Design and Fabrication of a Prototype Submarine

Using Archimedes Principle

Humaira Mohiuddin Sayidul Morsalin, Khizir Mahmud‡

Department of Mechanical Engineering
Chittagong University of Engineering and Technology
Chittagong, Bangladesh
humairamohiuddin08@gmail.com
Department of Electrical and Electronic Engineering
‡
Dept of Electrical Engineering & Automation School
Chittagong University of Engineering & Tech, Bangladesh
‡
Northwestern Polytechnical University, Xi’an, P.R. China
morsalinbd@yahoo.com, khizirbd@gmail.com‡

Abstract—A submarine is a clandestine platform of functional characteristics of a submarine which is its ability to
watercraft for independent operation beneath water. In submerge and become virtually invisible. In response to these
order to surpass under water she must obey some ground challenges, this research presents the critical solutions like
laws specially Archimedes principle with taking Battery Technology, Air Independent Propulsion (AIP)
consideration of its flexible and economic structure and system.
propulsion systems design. The main purpose of this
research is to design and fabricate a prototype submarine II. SYSTEM DESIGN
to make experimentally available. The need for economic Submarines are designed to work at desirable depths. It
innovative design to ensure smart structure, propulsion, has rigid, double-walled hulls and is steered by turning a
diving system and efficient power system has focused in rudder left and right [2]. Water- pushing and creating a
the implemented prototype. The propulsion and power forward force is done by a propeller. A power source is
systems are provided by motor and battery. Depth rating engaged on this action. It has ballast tank for air and water. So,
comparison with other resplendent submarine makes the a mechanical and an electrical system are working together for
prototype unique in some cases. To submerge running the whole process. Followings are the main factors
hydrostatically this research on designing basically implies were considered while designing it.
Archimedes principle and buoyancy force, where negative
buoyancy exerted either by increasing its own weight or
decreasing its displacement of water. A. Material Selection
Material selection of model structure depends on its
Keywords-archimedes principle; diving system; negative strength, cost, availability and anodic index. "Anodic Index" is
buoyancy; power system; propulsion; submarine a measure of the electrochemical voltage that will be developed
between the metal and gold [4]. To find the relative voltage of
I. INTRODUCTION a pair of metals it is only required to subtract their Anodic
Indexes.
Submarine obviously steals the limelight after the cold war
to play a strategic rule for any country to protect the littoral
areas from external threat. Submarines furnish an excellent TABLE I. MATERIAL SELECTION ACCORDING TO ANODIC INDEX AND
clandestine platform having robust capability to meet both TENSILE STRENGTH
conventional and new demands of navies like open water Anodic
warfare, support to intelligence, counter-terrorism and special Material Tensile strength
index
force operations. Basically a submarine obeys the Archimedes Stainless Steel 300 series -0.10 215 Mpa
law which states that the upward buoyant force exerted on a
Hot-dip-zinc plate;
body immersed in a fluid is equal to the weight of the fluid the -1.20 248 Mpa
galvanized iron
body displaces [1]. In other words, an immersed object is
buoyed up by a force equal to the weight of the fluid it actually Zinc, wrought; zinc-base
displaces. By the same theory, when submarine is in desired die-casting alloys; zinc -1.25 283 Mpa
depth; it released the water and came up. Using this theory, the plated
design and fabrication of the model is done which is simple, magnesium-alloys, cast or
-1.75 130 Mpa
reliable and cost effective. However, acquiring and maintaining wrought
a submarine fleet is costly. Therefore, the key challenge for
submarine designers is to strike a balance between the need for
Table-1 shows some material with their anodic index and
stealth, range and adaptability and the need to control the size
strength. Among them Hot-dip-zinc plate; galvanized iron has
and cost of the submarine [1]. This paper presents the most

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3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014

anodic index -1.20 and a high tensile strength of 248 Mpa Weight measurement of the instrument, W= (2×weight of the
which is suitable for the model [4]. Moreover this material is pump) + (2×weight of the battery) + (weight of motor) +
commercially available with low cost. It also forms (weight of shaft) + (weight of the rest instrument) + (weight of
metallurgical bond between zinc and steel or iron, creating a base structure) = 4000 gm.
barrier to prevent itself from getting rusty as easily. It is a very By experiment it is got that for full submerging it will need
important factor as the model will be used in the water, so 8500 gm. weight.
corrosion prevention is a must territory to signify [3]. It is an So, weight of the water loaded in the ballast tank have to be =
essential component of roofs and panels, HVAC, electric (8500 – 4000) gm. = 4500 gm.
appliance and machine parts. That is the reason this material is
chosen for the model structure. Available dimensions are given D. Volume Measurement of Ballast Tank
in the following table 2. According to Archimedes law, total weight of the
structure = weight of the water it displaces
TABLE II. DIMENSIONS OF THE SELECTED MATERIAL So, using m= density* volume
or, 4500 = 1000 kg/m3 * V
Properties Dimension
or, V = 4.5 * (10-3) m3 = 4500 cm3
Thickness 0.15mm-3.5mm
So, for ballast tank the dimension taken is-
Width 600mm-1500mm
Zinc coating 60g/m2-600g/m2 TABLE V. DIMENSION MEASUREMENT

B. Specification of the Model Variable parameter Dimension(cm)

L length 20
TABLE III. DIMENSIONS OF DIFFERENT PARTS W width 15
H height 15
Variable Description Dimension
(cm) E. Hydrostatic/Hydrodynamic
Loa Length over all 72 Hydrostatic and Hydrodynamics Data of the model
Lhull Length hull 11 submarine.
Maxw Maximum width 24
Minw Minimum width 15 TABLE VI. HYDRODYNAMIC DATA
Whull Width hull 5 Lmw Light model weight 8500 [gm]
Th Thickness of hull 1.5 Dw1 Dead weight on water surface 5500 [gm]
D Depth under water 3 Dw2 Deadweight under water 7390[gm]
R Radius at designed front deck 12 Vdesign Volume of design ballast tank 4500 [m3 ]
H Height 15 Ρ Density of freshwater 1000[kg/m2]
C. Weight Measurement Dth Displacement water (theoretically) 4500 [gm]
Fn Froude number 0.358
Different parts are used for fabricating the model. All
these parts play a vital role on weight measurement. For the F. Implemented Model Visualization
measurement of the weights was the hull shape approximated Views of Proposed Design (all the dimensions are in
with geometrical surfaces like ellipses and parabolas and also centimeter)
with geometrical bodies like ellipsoids and parabola [5][6].
For the preliminary design, the precision of this method
should be enough. But for the practical fabrication data’s can
be varying slightly, thus accurate measurement is necessary.

TABLE IV. WEIGHT MEASUREMENT OF THE PROTOTYPE

Elements Weights(gm) Figure 1. 3-D view of the implemented prototype

pump 400
battery 530
motor 650
shaft 155
gear(small) 60
gear(large) 45
rest instruments 120
base structure 1110

Figure 2. 2-D view of the implemented prototype

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3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014
III. MECHANICAL AND ELECTRICAL SYSTEM OF THE
PROTOTYPE IMPLEMENTED SUBMARINE
Mechnical system design is an important part of the
submarine specially for submerge and float [7]. when
submarine is on the surface of water and air is constant in the
ballast tank, then suction pumps valve opens, water enters,
valve closes and submarine submerges upto desired height [9].
For floating from sumerged position the valve of delivery
pump opens, water releases through valve, valve closes and
finally submarine floats.There are many thousands of
individual parts in a submarine all doing their part to make it
work. But in the paper only the basic parts is described. For
establishing a mechanical system it requires few equipment as
well as few machineries. Basically the mechanical system of
the model consists of three major parts as suction, delivery and
propulsion.
A. Suction and Delivery
In suction system, when switch of the suction pump is on,
the water is sucked by the pump from water reservoir. It then
enters the ballast tank through the suction pipe. Thus load of
the submarine increases and its height slowly goes underwater.
Delivery system contains the unloading of water from the
ballast tank. After it reached to desired depth delivery pump’s
switch is pressed on and water leaves the tank through
delivery pipe [7]. It results floating of the submarine on the
water surface without any load. The pump used for suction
and delivery has a specification of –
TABLE VII. PUMP SPECIFICATION
variable parameter dimension
Q Flow rate 2×10-3m3
V Voltage required 12 V
Suction lift L0 0 (for straight
connection)
Lift L1 60 cm
B. Propulsion System
Submarines use batteries for running underwater.
Throwing the switches to the battery position takes power
from the batteries and directs it into the propulsion system,
which then functions as a motor, driving a shaft. The shaft is
being attached to a gear, which is connected to a timing belt.
The other portion of the belt is attached to another gear which
rotates the propeller shaft. Thus propulsion takes place and
submarine moves ahead through the water [8].
C. Electrical Control Circuit
A simple electrical system of the implemented prototype
has been depicted to control the system in the following
figure 3. Two 6 volt batteries are connected in series as
negative wire of battery-1 is connected to battery-2’s positive
wire for obtaining 12 volt. There is a parallel connection
among pump 1, pump 2, and motor. Motor’s negative end is
connected to negative wire of battery-2 and its positive end is
connected to switch z. Other end of the switch z has a
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connection to the battery-1’s positive end. Pump-1 and pump-
2 has same connection as motor. The corresponding switches
used are x and y.
Figure 3. Pump, battery and motor connection
Here, P1= pump 1, P2= pump2, m= motor, b1= battery1, b2=
battery2, x= switch for operating pump1, y= switch for
operating pump2, z= switch for operating motor.
IV. BATTERIES OF SUBMARINE
Batteries play a cardinal rule in the standby and
propulsion power system of submarine. Batteries are sole
responsible to the duration of submerged time of submarine
except nuclear technology and air independent propulsion
system. So the batteries and its charging/ discharging time are
the major criterion for performance evaluation and to know
how long it has to snorkel and risk detection during any
adversaries [10]. Basically lead acid batteries are widely and
commonly used in submarines, but recently their dominancy is
becoming low for the new efficient batteries. In the paper, the
implemented prototype battery system has been analyzed and
side by side also described innovative battery techniques and
some solutions over battery drawbacks.
A. Lithium-Ion Battery
Lithium-ion (Li-ion) batteries have been used to implement
the prototype. It is the best option for battery system as its
energy density is much higher according to its weight and also
slow discharging rate. Moreover, its weight is very less with
high electrochemical potential [11]. It is also commercially
available. The main advantage of the Li-ion batteries is that it
can fit in different sizes and shapes, so it can utilize in any
desired location to utilize vacant space. Its self-discharge rate is
very less which is about 5 to 10% which is very less than any
battery [12]. Moreover, scheduled cycling or memory is not
necessary to enhance the battery life. For these attractive
characteristics of the Li-ion battery, it has been used in the
implemented prototype and in diesel electric submarine to
replace lead-acid battery.
B. Lead-Acid Battery
Lead-acid battery is also widely used in some types of
submarine. Its main drawback is its low energy comparing its
weight and low energy density comparing its volume. But it
can give high surge current and it can also maintain high
power to weight ratio [13]. For these reason it is used in some
applications of submarine. This lead-acid keeps chemical
energy finally to convert it into electrical energy and release
that by the external circuit.
3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014

C. Molten Salt Battery high pressure, so it can easily dissolve with the sea water, so
Molten salt battery is also another types battery containing any extra arrangement for compressor is not necessary [17].
electric cells. It uses molten salts to generate power. It can For its advanced design process it has low infrared signature
give better energy density and by appropriate anode and and the level of noise emission is also low. By this system the
cathode selection it can give more better performance. By the submarine’s submerged time is dependent on the liquid
use of high conductivity molten salt electrolyte it can give oxygen storage capacity.
high power density. Basically, The submarine which requires
more energy density and power density there the Molten Salt
battery is used. But the main disadvantage of this battery is
that it needs continuous battery charging to keep the
electrolyte in liquid state so that it can use at any time [14].
Moreover, if this battery system is not used and become solid
then it needs to heat the battery to revive and make liquid for
use. But this heating system takes long time which is around
three to four days. The most significant instance of this molten
salt battery is ZEBRA battery which is first introduced in 1985
and was made by molten sodium aluminum chloride [14]. For Figure 4. Stirlling engine based air independent propulsion system
its some major disadvantages its usage is limited in submarine.
It is widely used in some submersibles.
B. Fuel Cell System
V. AIR INDEPENDENT PROPULSION (AIP) This is a system in which Polymer Electrolyte Membrane
In the conventional submarine, the period of time that a (PEM) fuel cells are used and hydrogen and oxygen ions are
submarine can remain under water is dependent on its battery combined together by electro chemical energy converters to
system. The more better its battery system, more higher its produce electrical charge. The total fuel cell system has been
depicted in the following figure 5.
submerged time. Though the improvement of the battery
technology, but still it’s difficult to achieve a revolutionary
change in the submerged time because its cost and volumetric
factors. But the Submarine with air independent propulsion
(AIP) system can enhance the submerge time more higher than
the conventional battery system. Some conventional
submarines also run by the diesel engines which also need
combustible oxygen gas which is also a big factor [15]. But the
AIP system can lead the submarine without the necessity of
surface or without the need of combustible atmospheric
oxygen. The necessary combustible oxygen is stored as liquid Figure 5. Fuel cell based independent air populsion system
oxygen on a board. AIP system has fuel cell system, stirling
engine, steam turbine systems and close cycle diesel systems.
Alike the stirling engine, fuel cell system produces electricity
So nuclear propulsion system can also be considered as a type very slowly and at a certain steady rate. For this reason this FC
of AIP system. But for the bigger size of nuclear submarines system is suitable for the submarines which speed is very low
and unlimited submerged duration seldom recognized it as the
[19]. In case of high speed operation, the submarine depends
same category AIP submarine [16]. Based on the concept of the
on its regular battery system and that battery can be recharged
modularity design, all AIP systems are designed and fabricated
by the fuel cell system. The fuel cell system is superior
in modular plugging category. This special design characteristic
because it does not produce any exhaust gas, only it produce
and fabrication makes them superior for deployment in new and some pure water. Moreover, it’s noise is very less and much
existing submarines.
quiet than other AIP systems. It’s oxygen consumption is also
A. Stirling Engine very lower which increases the duration of submerged time
The Stirling engine of AIP system burns sulphur diesel [19] [20]. But this fuel cell system nned hydrogen, which is
fuel and oxygen which is stored in cryogenic tanks as liquid in stored in the form of liquid hydrogen in metal hydride and it
a pressurized combustion chamber produces and finally to needs more maintenance and support which is very costly.
produce heat. This produced heat is then shifted to the
engine’s working gas (generally helium) to operate in a closed VI. FORCES AND POWER DEVELOPED BY A SUBMARINE
system. The piston of the engine gets force from the working
The analysis of the forces on submarine takes into
gas (helium) and it moves. By the movement of the piston the
account the theoretical location of the propulsive force or
engine creates force to rotate the rotor of the alternator. The
centre of effort, the direction of the force, and the distribution
engine and the total system has been depicted in the following
of the pressure on related surface and depth under the water.
figure 5. The combustion exhaust gas in the engine has very
The values of forces acting on the submarine are different in

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3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014

floating and submerging position. The fluid mechanics and planning forces are negligible here. So, the equation for total
aerodynamics force calculations are more complex for a force is-
submarine than any watercraft [18]. A submarine operates ∑F= T+Fd (5)
under the action of following few forces. The forces are:
Total force of prototype, ∑F=70.72 N+91.936×10-3 N
Thrust: Basically thrust a kind of force made by reaction. =70.81N
According to the Newton’s third law if any mass accelerates in
any direction then equal magnitude opposite direction’s force
will act on that system. The force which is perpendicular to VII. OBSERVATION OF DIVING SYSTEM
the applied force is known as thrust [21]. It creates from the By experimenting the model it is seen that as volume of
propeller, as submarine goes forward. The formula for loaded water increases, diving depth also increases. So volume
calculating thrust force is- of loaded water is proportional to the diving depth of the
T= ρ×A×v2 (1) submarine. Following data are obtained from prototype –
Where, ρ= density of water, A=area of the cross section of the
propelled volume of fluid, v= velocity of the submarine TABLE VIII. LOADED WATER AND DIVING DATA OF THE PROTOTYPE
Here, ρ= 1000kg/m3
Diving Volume of Time required Weight of
A=.272 m2 (assumed)
depth Loaded water for loading loaded water
v= .26 ms-1
3 cm 0 0 0
Substituting the values in equation (1),
(Water
Thrust, T= 1000×.272×.262
level)
=70.72 N
Again the equation of propelled power is, 6 cm 1.2 liter 2.5 min 1.2kg
P= T×v (2) 9 cm 2.2 liter 4.8 min 2.2kg
Propelled Power of prototype =70.72 N×.26ms-1 12 cm 3.3 litre 6.8 min 3.3kg
=18.38 watt 15 cm 4.5 litre 8.9 min 4.5kg

Drag: It is basically known as the opposite force or friction From the table a relation between diving depth and volume of
acts on any moving object. This force can be created in loaded water can be established. Here it is seen that while all
between fluid layers or solid surface. Drag forces depend on 15 cm of its height goes under water the volume of loaded
velocity. From the water and also the air acting on the hull, water in the ballast tank of model submarine is 4.5 liter. It
superstructure and front elliptical area drag forces creates on a takes only 7.1 min to submerge in the water perfectly. The
submarine [19]. The formula for calculating drag force is- following graph represents the relationship between diving
Fd = ½ × Cd × A × ρ × v² (3) depths vs. loaded water volume of this proto submarine.
Where, Fd = Drag force; Cd= Drag coefficient; A= Projected
frontal area; v = Velocity of the car; ρ = Density of air
. For drag force, Cd=.001(for laminar flow)
A=2.72ms-1
ρ= 1000kg/m3
v= .26 ms-1
Substituting the values in equation (3),
Drag force, Fd= ½ ×.001×2.72×1000×.262
=91.936×10-3 N Figure 6. Diving depth vs. water loaded graph

Roll: rolling friction is the force resisting the motion when a
body rolls on a surface. wind and waves that move the boat
from side to side creates rolling friction [23]. The formula for
calculating rolling friction is-
Fr = Crr× N (4)
Where, F= rolling resistance force; Crr= dimensionless
rolling resistance coefficient or coefficient of rolling friction
(CRF) and N= normal force, the force perpendicular to the
surface on which the wheel is rolling.
Buoyancy: It is the upward force keeps the submarine floating
due to the displacement of the hull.
Planning forces: due to this force the submarine lifts vertically
due to aerodynamic and hydrodynamic forces acting on the
hull and structure. But for this model rolling resistance can be
ignored as it can be considered stable [23]. Buoyancy and
VIII. DEPTH RATING COMPARISION
According to Archimedes Principle the weight of the
loaded water is equal to the weight of the water displaces by
the body [24]. So it can be said that the model displaces 4.5 kg
of water for 15cm diving depth. If prototype is made 1:10000
the prototype might have a water displacement of 45000 kg or
45 tons for a diving depth 1500 meters. Here is some
comparison with other submarines like a small submarine, the
bathyscaphe Trieste, made it to 10,916 meters (35,813 feet)
below sea level in the deepest point in the ocean. It displaces
50 long tons water. The deepest-diving large, military-style
submarine was the Soviet submarine K-278 Komsomolets,
make trips as far down as 1300 meters displacing 88 tons of
water [25]. Sea wolf submarines have an estimated crush

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3rd INTERNATIONAL CONFERENCE ON INFORMATICS, ELECTRONICS & VISION 2014
depth of about 2400 feet (730 m) displacing 836 tons of water
[26]. So it can be concluded that depth rating of this prototype
reveals that it can displace satisfactory amount of water
comparison with other resplendent model.
IX. CONCLUSION
The proposed model has run successfully with a
satisfactory water displacement plus depth rating. The AIP
system with stirling engine makes it unique in some extends.
Propulsion and power systems provided by motor and battery
turn the submarine reliable and economic to the third world
developing country like Bangladesh. Nevertheless it has some
shortcoming such as incapability of application for highly
accurate information due to lacking of smart control system
also some internal faults too. The model gets a bit imbalance
while loading and unloading the water. As the ballast tank is
large with respect to the pipe, water level in the tank does not
get uniform until required amount of water enters in it.
Moreover it lacks the dealing of communication with base
control station. So, this model is a successful installation of
the design which reflects some future work to fabricate.
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