AUTONOMOUS UNDERWATER VEHICLE
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What are submarines/Underwater Vehicles?

Machines which can submerge from the surface of waters.

Generally classified into two
1.Manned vehicles
2.Unmanned vehicles.


A brief history

.First submarine – TURTLE made by David Bushnell and his brother Ezra in 1775

.The world's first practical powered submarine, the Resurgam was built by Reverend George W. Garrett in November of 1879
.The next stage was the creation of torpedoes , which was titled as the first autonomous underwater vehicles


HYDRODYNAMIC DAMPING

The forces acting in the opposite direction to the motion of the body, when it is moving in water.
It is mainly due to drag and lift forces.


CORIOLIS
Coriolis is an inertial force that acts perpendicular to the direction of motion of a body

ADDED MASS
When a body moves underwater, the immediate surrounding fluid is accelerated along with the body.



ENVIRONMENTAL FORCES
While in motion, the AUVs will be affected by waves, ocean currents, wind etc.


PRESSURE
For every 10m of depth, pressure increases by about 1atm. The increase in pressure as depth increases is significant factor for AUVs.