Hunting Submarines Via Gravity Is A Tough Errand

Among so many other technological advances, the Cold War saw the advent of the ballistic missile submarine. The concept was simple—pack enough nuclear warheads to destroy a small civilization into a compact metal tube, and then hide it underwater. The oceans would act as a cloak for your fleet of world-enders, and keep your enemies forever on their toes. A terrifying machine that could both start and end a war with the push of a button.

Most nation states are populated by humans with the will to live. Thus, there has been a great incentive to find ways to keep tabs on these sunken doombringers. Great efforts have gone into improving sonar and magnetic detection methods over the decades, which are the bread and butter of sub hunting to this day. However, military researchers have also explored the prospect of whether submarines could be detected via their effect on the gravitational field alone.

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Autonomous Submarine Relies On Color Detection

We talk about all kinds of autonomous vehicles here at Hackaday, from aerial drones to rugged rovers. A little less common are the submarine builds, likely due to their technical complexity. That said, though they perhaps benefit most from autonomy given they’re so hard to talk to while underwater. In any case, [Ayman] has built an impressive sub that uses some rudimentary techniques to navigate around while under the surface. 

The build uses typical construction techniques for DIY subs of this size, with a clear acrylic tube serving as the body of the craft. It’s carefully sealed to ensure water ingress doesn’t send it to the bottom, using nifty tricks like a magnetic coupling for the prop. Inside, there’s a Raspberry Pi 4, kitted out with an Arducam IMX708 camera with a wide angle lens. It’s joined by a BNO085 inertial measurement unit, along with two BMP280 pressure sensors for keeping track of motion and the sub’s vital signs, while a DRV8833 motor controller runs the main drive motor.

There’s also an ESP32 which helps out with motor and servo control for steering, and ballast control. Sinking and floating the sub is handled with a pair of two ballast tanks constructed out of 5 mL syringes that are driven in and out with high-torque output gear motors. The build uses an antenna buoy so that communication can be maintained with the sub when it’s within a certain range of the surface.

A neat addition to the sub is its autonomous navigation code. [Ayman] whipped up some simple object avoidance routines, which rely on the Raspberry Pi’s camera. The code uses HSV values to track specific colored objects and avoid them, which proves more reliable than RGB as it allows tracking color in a largely brightness-independent manner.

Although we’ve featured other builds that use similar construction techniques, seeing a transparent submarine gliding through the water will always make us think of the incredible Open Source Underwater Glider that won the 2017 Hackaday Prize.

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A model submarine is shown on a dock. The body of the submarine is made out of a series of acrylic tubes, with other parts made out of grey plastic.

3D-Printed Parts Nearly Sink RC Submarine

Of all the remote-control vehicles one can build, a submarine is possibly the hardest: if something goes wrong with almost any other vehicle, it’s easy to recover and repair, but a submarine is a very different affair. This nearly lost [James] of [ProjectAir] his latest project, a 2.7-meter long RC submarine, but it survived to make a few test sails.

Before building the full version, [James] made a test prototype. These submarines use large syringes as ballast tanks, pulling water in and out of the submarine body. The plungers are driven by a lead screw, and have a linear potentiometer for feedback. This can be wired in the same way as a servo motor, making it compatible with the RC controller. The controller receives its signal from an antenna in a buoy tethered to the submarine. Since initial tests worked well, [James] moved on to the full-scale model.

This was made out of radially-arranged acrylic tubes, with all but the top tube left open to the water. At the back of the submarine there were servo-actuated fins and a propeller, which would allow it to steer, ascend, and descend underwater. To waterproof the servo motors, [James] sealed them as much as possible, then filled them with oil. The other water-exposed electronics were either potted in epoxy or coated with a waterproofing compound. During testing, the submarine descended without issue, but was reluctant to resurface. Most of the external components had been 3D printed, and water infiltrated the infill below a certain depth. [James], however, managed to recover it before it was permanently lost, and managed to make a few other dives at a very limited depth.

On the other end of the spectrum from an RC submarine, we’ve also seen a rubber band-powered submarine. We’ve also seen a smaller, but more dive-ready RC submarine. Continue reading “3D-Printed Parts Nearly Sink RC Submarine”

SpyTech: The Underwater Wire Tap

In the 1970s, the USSR had an undersea cable connecting a major naval base at Petropavlovsk to the Pacific Fleet headquarters at Vladivostok. The cable traversed the Sea of Okhotsk, which, at the time, the USSR claimed. It was off limits to foreign vessels, heavily patrolled, and laced with detection devices. How much more secure could it be? Against the US Navy, apparently not very secure at all. For about a decade starting in 1972, the Navy delivered tapes of all the traffic on the cable to the NSA.

Top Secret

You need a few things to make this a success. First, you need a stealthy submarine. The Navy had the USS Halibut, which has a strange history. You also need some sort of undetectable listening device that can operate on the ocean floor. You also need a crew that is sworn to secrecy.

That last part was hard to manage. It takes a lot of people to mount a secret operation to the other side of the globe, so they came up with a cover story: officially, the Halibut was in Okhotsk to recover parts of a Soviet weapon for analysis. Only a few people knew the real mission. The whole operation was known as Operation Ivy Bells.

The Halibut

The Halibut is possibly the strangest submarine ever. It started life destined to be a diesel sub. However, before it launched in 1959, it had been converted to nuclear power. In fact, the sub was the first designed to launch guided missiles and was the first sub to successfully launch a guided missile, although it had to surface to launch.

Oddly enough, the sub carried nuclear cruise missiles and its specific target, should the world go to a nuclear war, was the Soviet naval base at Petropavolvsk.

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Powering A Submarine With Rubber Bands

A look underneath the water’s surface can be fun and informative! However, making a device to go under the surface poses challenges with communication and water proofing. That’s what this rubber band powered submarine by [PeterSripol] attempts to fix!

The greatest challenge of building such a submersible was the active depth control system. The submarine is slightly negatively buoyant so that once the band power runs out, it returns to the surface. Diving is controlled by pitch fins, which will pitch downward under the torque applied by the rubber bands. Once the rubber band power runs out, elastic returns the fins to their natural pitch up position encouraging surfacing of the submarine. However, this results in uncontrolled dives and risks loss of the submersible.

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A photo of a fully assembled PVCSub.

PVCSub: A Submarine From The Plumbing Aisle

Today in the submersibles department our hacker [Rupin Chheda] wrote in to tell us about their submarine project.

This sub is made from a few lengths of PVC piping of various diameters. There is an inflation system comprised of a solenoid and a pump, and a deflation system, also comprised of a solenoid and a pump. The inflation and deflation systems are used to flood or evacuate the ballast which controls depth. There are three pumps for propulsion and steering, one central pump for propulsion and two side pumps for directional control, allowing for steering through differential thrust. Power and control is external and provided via CAT6 cable.

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Hackaday Links: July 7, 2024

Begun, the Spectrum Wars have. First, it was AM radio getting the shaft (last item) and being yanked out of cars for the supposed impossibility of peaceful coexistence with rolling broadband EMI generators EVs. That battle has gone back and forth for the last year or two here in the US, with lawmakers even getting involved at one point (first item) by threatening legislation to make terrestrial AM radio available in every car sold. We’re honestly not sure where it stands now in the US, but now the Swiss seem to be entering the fray a little up the dial by turning off all their analog FM broadcasts at the end of the year. This doesn’t seem to be related to interference — after all, no static at all — but more from the standpoint of reclaiming spectrum that’s no longer turning a profit. There are apparently very few analog FM receivers in use in Switzerland anymore, with everyone having switched to DAB+ or streaming to get their music fix, and keeping FM transmitters on the air isn’t cheap, so the numbers are just stacked against the analog stations. It’s hard to say if this is a portent of things to come in other parts of the world, but it certainly doesn’t bode well for the overall health of terrestrial broadcasting. “First they came for AM radio, and I did nothing because I’m not old enough to listen to AM radio. But then they came for analog FM radio, and when I lost my album-oriented classic rock station, I realized that I’m actually old enough for AM.”

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