A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller

Wu, Lihong; Li, Yiping; Liu, Kaizhou; Wang, Shiwen; Ai, Xiaofeng; Li, Shuo; Feng, Xisheng

doi:10.1016/j.oceaneng.2019.05.063

Cited by 14 publications

(4 citation statements)

References 16 publications

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“…When AUV faces cross currents, it must change its heading using the rudder to avoid the sizable lateral drift. Wu et al 43 performed physics-based numerical simulations on AUV docking, using CFD-based multi-block hybrid dynamic grid method. The method employs multi-block mesh topology, moving mesh, and dynamic layer method to grid the domain and move the rigid body.…”

Section: The Hydrodynamics Of Auv Operating In Complex Flow Fieldsmentioning

confidence: 99%

A review on the hydrodynamic characteristics of autonomous underwater vehicles

Panda

Mitra

Warrior

2020

Proceedings of the Institution of Mechanical Engineers, Part M:

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Autonomous underwater vehicles play an essential role in geophysical data collection, deep water mining, seafloor mapping, ocean exploration, and in many other related activities starting from military to scientific applications. A detailed understanding of hydrodynamic characteristics will lead to better design, better control, and optimal path planning of autonomous underwater vehicles in the deepest corner of oceans. This article will provide a detailed review of the hydrodynamic characteristics of autonomous underwater vehicles, starting from different experimental techniques used in the analysis of hydrodynamic parameters, methods used for fixing the autonomous underwater vehicles in towing tank, instruments used for measurement of the hydrodynamic parameters. Furthermore, numerical methods employed in performing computational analysis, hydrodynamics-based shape optimization, studies on drag reduction, and finally a detailed list of turbulence models used in the computational fluid dynamics–related numerical simulations. The hydrodynamics-based optimal shape of the autonomous underwater vehicles, the best technique to predict the hydrodynamic parameters, and the best turbulence model for the computational fluid dynamics–based prediction of hydrodynamic parameters will be recommended. At last, the hydrodynamic characteristics of different bio-inspired autonomous underwater vehicles are discussed.

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Section: The Hydrodynamics Of Auv Operating In Complex Flow Fieldsmentioning

confidence: 99%

A review on the hydrodynamic characteristics of autonomous underwater vehicles

Panda

Mitra

Warrior

2020

Proceedings of the Institution of Mechanical Engineers, Part M:

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show abstract

“…7 Kim and Lee 8 provided an ocean-current model and added motion equations to predict the maneuverability of the AUV; Pan et al 9 regarded the docking structures as the rigid bodies, carried out the multi-body dynamic collision analysis of the underwater docking system, and obtained the basic collision parameters; Meng et al 10 used the hydrodynamic simulation software STAR to investigate the influencing parameters linked to the collision force on the catch-bar docking system during capture. Wu et al 11 carried out a physical simulation of docking between the AUV and the fixed dock connecting the URANS equation with the six-DOF equation by adopting discretized thruster and multi-block hybrid grid techniques. Additionally, Du et al 12 performed a hydrodynamic imitation of the dynamic technique of AUV underwater docking using the hydrodynamic analysis software CFX and found the change in resistance of the recovery device during docking at varying docking distances; Wu et al 13 discovered numerical estimation results of varying hydrodynamic interactions, Reynolds numbers, and spatial interference forces during the docking of AUV.…”

Section: Introductionmentioning

confidence: 99%

Study on influencing factors of hydrodynamics based on AUV docking with conical dock

Diao

Yuan

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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It is necessary to investigate the dynamic performance during autonomous underwater vehicle (AUV) underwater docking to aid in control and to enhance docking safety. Therefore, in this study, the docking hydrodynamic characteristics (including the docking system’s streamline, velocity vector, and surface pressure during the overall docking process) of the AUV with conical hood dock are determined by using the dynamic grid technology, and the water drag force situations of the AUV docking with conical hood dock are studied from the perspectives of different velocities, accelerations, navigation modes, and structures. Additionally, the multiple nonlinear regression fits and the preliminary docking test were examined. Furthermore, brief inferences obtained are as follows: First, the maximum pressure is situated at the upstream surface of the dock conical hood and the head of the AUV, and the maximum rotation angle of the streamline is situated at the outermost ring of dock conical hood. Within a specified range, the rotation angle of the streamline affected by the conical hood progressively declines as the AUV docks deeper into the conical hood. Second, low velocity uniform docking, deceleration docking, and chase docking can reduce the drag force to a certain extent during docking. Finally, both arc shape and mesh structure can decrease the water drag force of docking to a specified degree. This research provides a theoretical basis and reference methods for the dynamic research of the docking system, and other related research can be carried out through the methods and results of this research.

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“…Such docking system is simple and can be moored in the sea floor, floated by surface mooring in the middle of the sea, or towed by a mother ship [3]. Meanwhile, the AUV should be navigated into the fixed dock [4] [5]. Due to the docking system is more sensitive to the hydrodynamic interactions between the dock and the ocean currents, various hydrodynamics issues are investigated as the AUVs approach a cone-shaped dock [3].…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

et al. 2022

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In order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), autonomous recovery system draws more and more attention in recent years. A hybrid scheme combined with navigation, guidance and control is proposed to complete the function of autonomous recovery of AUV in the paper. Based on the hybrid scheme, the autonomous recovery is firstly transformed into the trajectory tracking problem, and the Dubins path planning method is adopted to build the threedimensional(3D) motion path of AUV. Secondly, the virtual target guidance strategy is introduced to guide the AUV to track the desired path. Finally, a non-singular terminal sliding mode controller is designed to control the AUV. Due to the existence of model inaccuracy of AUV and external disturbances from the environment, a finite-time disturbance observer is adopted to estimate the disturbance and uncertainty in the system. Numerical simulation is conducted to verify its performance. The simulation results show that a 3D motion path can be planed and the AUV can track the motion path well.

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A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller

Cited by 14 publications

References 16 publications

A review on the hydrodynamic characteristics of autonomous underwater vehicles

A review on the hydrodynamic characteristics of autonomous underwater vehicles

Study on influencing factors of hydrodynamics based on AUV docking with conical dock

A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

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