RoboShark

Project by Twan Haazen
Supervisor Rob Janssen

This wiki will contain information about my Bachelor Final Project.

1. Introduction

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2. Pre-Design Research

2.1 Helium

The shark will float through the air by using helium. To determine how much helium is needed to make the shark neutrally buoyant Archimedes’ principle is be used. This principle states that any object, wholly or partially immersed in a fluid, is buoyed up by a force equal to the weight of the fluid displaced by the object. The upward lift is defined in equation X.X.
EQUATION
The whole shark will have a certain weight on which a gravitational force is applied. The total amount of gravitational force is given in equation X.X.
EQUATION
The whole shark will have a certain weight on which a gravitational force is applied. The total amount of gravitational force is given in equation X.X.
F_z=M∙g=(M_(shark)+M_(helium) )∙g= (M_(shark)+ρ_(helium)∙V)∙g
To make the shark neutrally buoyant the force from the lift has to be equal to the force applied by gravity, which is displayed in equation X.X. If the upward lift equals the gravitational force, no net force in vertical direction will be present.
F_a=F_z
Substituting the terms in equation X.X. with the terms from equation X.X. and X.X., a relation between the mass of the shark and the amount of helium needed can be derived. This relation is given in equation X.X.
ρ_air∙g∙V= (M_(shark)+ρ_(helium)∙V)∙g
M_(shark)=(ρ_air-ρ_(helium) )∙V
ρ_air=P/(R∙T) (kg/m^3 )
If the assumption is made that the temperature is equal to 293K and the pressure is 1 bar, the density of air is equal to 1,204 kg per cubic meter. At the same conditions the density of helium is 0,1787 kg per cubic meter. Using these values for the densities of air and helium, 1 cubic meter of helium can make 1 kg neutrally buoyant. Using relation from equation X.X, the amount of helium needed to make the shark neutrally buoyant can be determined.