No abstract

In this paper modeling and simulation of an underwater vehicle equipped with manipulator arms, using Composite Rigid Body (CRB) algorithm will be discussed. Because of increasing need to Unmanned Underwater Vehicles (UUVs) in oil and gas projects in Persian Gulf, for doing operations such as inspection of offshore jackets, subsea pipelines and submarine cables and also pre installation survey and post laid survey of submarine pipelines and cables, design and construction of “SROV” was developed in Sharif University of Technology, and at design stage behavior of underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm is developed for an UUV equipped with m manipulators that each of them has N degrees of freedom. In addition to the effects of mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. For drag forces, the emphasis here is on the modeling of the pressure drag. Recent advances in underwater position and velocity sensing enable real-time centimeter-precision position measurements of underwater vehicles. With these advances in position sensing, our ability to precisely control the hovering and low-speed trajectory of an underwater vehicle is limited principally by our understanding of the vehicle’s dynamics and dynamics of the bladed thrusters commonly used to actuate dynamically-positioned marine vehicles. So the dynamics of thrusters, are developed, and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle, is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally the results of the simulations, for an underwater vehicle equipped with one 2 DOFs manipulator, are presented and discussed in details.

A physical model, built at an undistorted scale of 1:15 tested the original design of the six drum screen and nineteen cooling water pump intake connected to header bay. The capacity of origin water intake including huge pump station and drum screen is 400,000 m3/hr. The study objectives were to evaluate as-designed screen bay and pump bay performance and to propose design modifications to optimize intake flow conditions with respect to head-losses, uniformity of the approach flow, evenness of pump throat velocity distribution, and free and subsurface vortex formation. The model was built and operated in accordance with froude-number similitude. It allowed accurate representation of complex flow patterns caused by the physical geometry of the approach bay and pump bays. The major factors that can affect the selection of a concept and design development for a water intake are: a) The occurrence of dead water zones, flow separation or reverse flow b) Vortex building and air entrainment in the pump compartments c) Submerged vortices building in the pump compartments d) Low velocity area e) Strong rotational flow f) Strong cross flow appear in front of pump units g) Pre rotation in the pump suction lines. Dye injection was used to examine the stratified flow behavior along water. The existing design of the pump bays was found to produce a uniform, symmetrical flow distribution in the approach flow, weak but persistent floor and side-wall-attached submerged vortices, avoiding cross flow and reverse flow in front of the pumps and negligible swirling motion in the pump suction. Modified design includes (i) profiling low velocity area (ii) adding flow deflectors along inner walls (iii) infill area of low velocity (iv) adding suspended baffle in front of drum screens (v) adding diffuser block in front of pumps (vi) provision of floating booms in front of pumps.

No abstract

No abstract