Hull shape optimization of autonomous underwater vehicles using a full turbulent continuous adjoint solver

Lavimi, Roham; Le Hocine, Alla Eddine Benchikh; Poncet, Sébastien; Marcos, Bernard; Panneton, Raymond

doi:10.1016/j.oceaneng.2024.119256

Ocean Engineering

2024

DOI: 10.1016/j.oceaneng.2024.119256

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Hull shape optimization of autonomous underwater vehicles using a full turbulent continuous adjoint solver

Roham Lavimi,

Alla Eddine Benchikh Le Hocine,

Sébastien Poncet

et al.

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2024

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Cited by 3 publications

References 47 publications

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Experimental and numerical simulation study of drag reduction on AUV grooved surfaces

Zhang,

Wu,

et al. 2024

Ocean Engineering

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Experimental and numerical simulation study of drag reduction on AUV grooved surfaces

Zhang,

Wu,

et al. 2024

Ocean Engineering

View full text Add to dashboard Cite

Optimal Attitude Determination for the CR200 Underwater Walking Robot

Yoon,

Jeong,

Kim

et al. 2024

Applied Sciences

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The Crabster CR200 is an underwater walking robot inspired by crabs and lobsters, designed for precise seabed inspection and manipulation. It maintains stability and position on the seafloor, even in strong currents, by adjusting its posture through six legs, each with four degrees of freedom. The key advantage of the CR200 lies in its ability to resist drifting in strong currents by adapting its posture to maintain its position on the seafloor. However, information is still lacking on which specific posture generates the maximum downforce to ensure optimal stability in the presence of currents and the seabed. This study aims to determine the fluid forces acting on the CR200 in various postures using Computational Fluid Dynamics (CFD) and identify the posture that generates the maximum downforce. The posture is defined by two parameters: angle of attack and seafloor clearance, represented by the combination of the robot’s pitch angle and distance to the seabed. By varying these parameters, we identified the posture that produces the greatest downforce. Through a series of analyses, we identified two main fluid dynamic principles affecting the downforce on a robot close to the seabed. First, an optimal pitch angle exists that generates the maximum downward lift on the robot’s body. Secondly, there is an ideal distance from the seabed that produces maximum suction on the bottom surface, thereby creating a strong Venturi effect. Based on these principles, we determined the optimal robot posture to achieve maximum downforce in strong current conditions. The optimal underwater robot posture identified in this study could be applied to similar robots operating on the seafloor. Furthermore, the methodology adopted in this study for determining the optimal posture can serve as a reference for establishing operational postures for similar underwater robots.

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Design and Computational Modelling of AUV Tunnel Thruster Covers for Efficient Operation

McNeill,

Cooper-Baldock,

Sammut

2024

JMSE

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Autonomous underwater vehicles have seen widespread adoption across industrial, scientific, and defence applications. They are typically utilized to perform oceanic mapping, surveillance, and inspection-type missions. Hovering AUVs, used for inspection applications, are over-actuated vehicles incorporating multiple thrusters to enable multiple degrees of freedom control at a low velocity. These vehicles, however, are extremely energy-limited, owing to their restrictive structural design that prohibits large batteries. This necessitates careful hydrodynamic design to best utilize this limited energy storage. Of particular importance are the hydrodynamic propulsion efficiencies of these vehicles. Whilst the external structure of AUV platforms is relatively well-defined and hydrodynamically optimized, one area has seen limited focus and optimization. This is the immediate surroundings of the propulsion geometry and housing. In this body of work, we propose an adaptation to the traditional through-body tunnel thruster geometry of an over-actuated AUV platform. The modification is the inclusion of a retractable internal thruster cover. Subsequently, a comparison is provided between a clean-hull AUV configuration, one with open through-body thrusters, and one fitted with the designed cover geometry. A comprehensive computational fluid dynamics analysis is then converged and assessed using the Reynolds-Averaged Navier–Stokes equations. The drag and local flow fields are determined, where the covers are found to reduce the drag coefficient and total drag of the AUV by 9.51%, primarily due to a reduction of 9.91% in the pressure drag. These findings highlight the increased operational efficiency of the cover geometry and support the adoption of such covers for energy-constrained AUVs.

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Hull shape optimization of autonomous underwater vehicles using a full turbulent continuous adjoint solver

Cited by 3 publications

References 47 publications

Experimental and numerical simulation study of drag reduction on AUV grooved surfaces

Experimental and numerical simulation study of drag reduction on AUV grooved surfaces

Optimal Attitude Determination for the CR200 Underwater Walking Robot

Design and Computational Modelling of AUV Tunnel Thruster Covers for Efficient Operation

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