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Submersibles are a large and nonhomogeneous group of vehicles that range from small unmanned autonomous vehicles such as Gavia and REMUS that can be carried by one or two men, to medium-large unmanned submersibles such as torpedoes, survey vehicles such as HUGIN and Bluefin, larger manned deep-diving vehicles such as the US Alvin and the Russian MIR up to naval diesel-electric submarines. With a few exceptions, all these use electrochemical power sources for propulsion. The rate of discharge is very different, however, being C/50 or less for a survey type of an autonomous underwater vehicle (AUV) to 5C or. | Submersibles Batteries 0 Hasvold FFI Norwegian Defence Research Establishment Kjeller Norway 2009 Elsevier B.V. All rights reserved. Introduction Submersibles are a large and nonhomogeneous group of vehicles that range from small unmanned autonomous vehicles such as Gavia and REMUS that can be carried by one or two men to medium-large unmanned submersibles such as torpedoes survey vehicles such as HUGIN and Bluefin larger manned deep-diving vehicles such as the US Alvin and the Russian MIR up to naval diesel-electric submarines. With a few exceptions all these use electrochemical power sources for propulsion. The rate of discharge is very different however being C 50 or less for a survey type of an autonomous underwater vehicle AUV to 5C or more for an electric torpedo. Submersible Physics With the exception of torpedoes that can easily use dynamic lift because of their high speed and gliders submersibles are neutrally buoyant their weight equals the weight of the water displaced. Thus the average density of a submersible equals the density of the displaced water. The weight of the pressure hull is a function of its shape and the choice of construction materials and increases with the design depth. As a consequence at some design depth the empty weight of the pressure hull will be so large that the amount of electronics and energy batteries the hull can carry will no longer be sufficient for the intended mission. Spherical pressure hulls give the best volume-to-weight ratio for a given design depth but even with spherical pressure hulls at some design depth the weight of the pressure hull equals the weight of the displaced water. At present the conventional pressure hull design limits the diving depth for manned submersibles to 6000 m. At this depth the ambient pressure is 600 atm 60 MPa . To go deeper one must add sufficient amounts of a material that is lighter than water and nearly incompressible to achieve neutral buoyancy. This is similar to the zeppeliners or
