Optimizing ROV sinking velocity using buoyancy and resistive force

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SUMMARY

The forum discussion focuses on optimizing the sinking velocity of a small spherical ROV (remotely operated vehicle) with a radius of 0.5m and a mass of 450kg. To achieve a constant sinking velocity of 1.2m/s, the ROV must adjust its buoyancy by taking on water to counteract the resistive force of 130N. The calculated buoyant force is 5254.236N, indicating that the ROV must increase its mass to balance the forces acting on it, ensuring a net force of zero for constant velocity sinking.

PREREQUISITES
  • Understanding of buoyancy principles and Archimedes' principle
  • Knowledge of forces, specifically gravitational force (F=mg) and drag force
  • Ability to calculate volume using the formula for a sphere (V=4/3πr³)
  • Familiarity with free body diagrams to visualize forces acting on objects
NEXT STEPS
  • Learn how to calculate buoyant force using the formula P=ρgV
  • Research variable ballast systems used in ROVs and their efficiency
  • Study the relationship between drag force and sinking velocity in fluid dynamics
  • Explore the design considerations for ROVs and AUVs in underwater applications
USEFUL FOR

This discussion is beneficial for marine engineers, robotics developers, and students studying underwater vehicle dynamics, particularly those interested in optimizing buoyancy and resistive forces in ROV design.

vincekillics
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Homework Statement


A small spherical under water ROV (remotely operated vehicle) has a radius of 0.5m and a mass of 450kg. It sinks or rises in the ocean by taking water on board or pumping it back out again. How much water must it take on board to sink at a constant velocity of 1.2m/s. The resistive force on it from the water is 130N. Assume the density of seawater is 1.03 x 103 kg/m3.

Homework Equations


P=ρgV/ρgh
F=mg

The Attempt at a Solution


First I tried to calculate the volume of the rov using 4/3 phi r^3, i got 0.52m^3
then I calculated the buoyancy force using ρgV and got 5254.236N and add up the resistive force of 130 N I got 5384.236N after this i don't know what to do
 
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vincekillics said:

Homework Statement


A small spherical under water ROV (remotely operated vehicle) has a radius of 0.5m and a mass of 450kg. It sinks or rises in the ocean by taking water on board or pumping it back out again. How much water must it take on board to sink at a constant velocity of 1.2m/s. The resistive force on it from the water is 130N. Assume the density of seawater is 1.03 x 103 kg/m3.

Homework Equations


P=ρgV/ρgh
F=mg

The Attempt at a Solution


First I tried to calculate the volume of the rov using 4/3 phi r^3, i got 0.52m^3
then I calculated the buoyancy force using ρgV and got 5254.236N and add up the resistive force of 130 N I got 5384.236N after this i don't know what to do
First thing to do is draw a free body diagram of the ROV and show all the forces acting on this vessel.

You are given the mass of the vessel (450 kg) and you have calculated the buoyant force. You are given the drag force when the ROV sinks (130 N). You'll need to calculate how much water the ROV needs to take on board so that it can sink. Remember, the drag force is developed only while the ROV is sinking.
 
SteamKing said:
First thing to do is draw a free body diagram of the ROV and show all the forces acting on this vessel.

You are given the mass of the vessel (450 kg) and you have calculated the buoyant force. You are given the drag force when the ROV sinks (130 N). You'll need to calculate how much water the ROV needs to take on board so that it can sink. Remember, the drag force is developed only while the ROV is sinking.

Hi, thanks for answering, but I still struggle to find the answer, I know that the rov would have to change its density to sink, the problem is I don't understand how to correlate the sinking velocity to the F=mg
 
vincekillics said:
Hi, thanks for answering, but I still struggle to find the answer, I know that the rov would have to change its density to sink, the problem is I don't understand how to correlate the sinking velocity to the F=mg
If the submarine is sinking at constant velocity, what is its acceleration?
 
must be 0m/s^2 right?
 
vincekillics said:
must be 0m/s^2 right?
Correct.

And if the acceleration of the body is zero, what does this imply about the net force which acts on said body?
 
SteamKing said:
Correct.

And if the acceleration of the body is zero, what does this imply about the net force which acts on said body?
net force should be 0 ? but Fmg > Fb on sinking object ?
 
vincekillics said:
net force should be 0 ? but Fmg > Fb on sinking object ?
Which is why you are asked to calculate how much water ballast to add to the ROV to get it to sink. :wink:
 
There are many commercial models of ROV & AUV on the market today. A few have used variable ballast systems such as you have described, but not very successfully. VB systems are only suited to larger models weighing in the tons, due to the weight of the equipment required to effect the required changes. EG if you want to change the payload (water in this case) by 1 Ton. The equipment required to effect this change - motor, pump, pipework, valves, pressure resistant tank, would likely weigh close to a ton. Possibly even more for a very deep rated sub. Therefore it is a very inefficient means of changing depth. It only comes into its own when you get up to subs weighing 10T or more. ROVs these days use thrusters to change depth or Altitude) depending upon whether you're measuring from the seabed or the surface. Even large ROVs weighing 40T.
 
  • #10
vincekillics said:
net force should be 0 ? but Fmg > Fb on sinking object ?
Yes, but the barest downward motion will do, so the net force can be as close to zero as you like.
 

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