Hydrodynamic calculation and analysis of a complex-shaped underwater robot based on computational fluid dynamics and prototype test

Li, Zhandong; Tao, Jianguo; Sun, Hao; Ding, Lixin; Deng, Zongquan

doi:10.1177/1687814017734500

Cited by 19 publications

(9 citation statements)

References 27 publications

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“…The efficiency and accuracy of the control algorithm and structure optimization of the robot mainly depend on hydrodynamic analysis. Many researchers have carried out research on hydrodynamics of underwater robots and vehicles [54][55][56]. Hydrodynamic forces can be analyzed experimentally as well as by numerical analysis tool (ANSYS, Star CCM+) and an empirical formula.…”

Section: Modeling and Analysis Of Hydrodynamic Forcesmentioning

confidence: 99%

Concept Design of the Underwater Manned Seabed Walking Robot

Khan

Wang

et al. 2019

JMSE

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In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1–2 m/sec) and deep water up to 500 m. It is powered by an external electric power source through tether cable. It walks on the seabed with six legs, which makes it distinct from conventional screw-propelled underwater robots. It can walk calmly without making the water turbid. Two anterior arms act as manipulators. All leg joints and manipulators are controlled by Brushless Direct Current Motors. Motivation for this concept comes from soldier crab that walk mostly forward and has an egg-shaped body. It is operated by a pilot sitting in a pressurized cabin, and promptly control operations of the robot and manipulator. Preliminary design of the pressurized cabin, using an empirical formula, “ASME PVHO-1 2007” standard, and validation was carried out through ANSYS Workbench. Hydrodynamic forces acting on the robot body and legs are utilized to withstand the water current and external forces to adjust legs and body posture for stability. Buoyancy rules are employed to control its rising and diving motion. All key technologies employed in the development of the robot and their approaching methods are explained. It will provide a safe operation space for humans in underwater operations.

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Section: Modeling and Analysis Of Hydrodynamic Forcesmentioning

confidence: 99%

Concept Design of the Underwater Manned Seabed Walking Robot

Khan

Wang

et al. 2019

JMSE

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“…L. Hong, X. Wang. [17] evaluated two kinds of forced, in which both the steady-state and unsteady-state conditions were simulated considering the wall effects [18]. Generally, the simulation of a six-DoF dynamics model of the ROV is more challenging than that of a torpedo-shaped streamlined autonomous underwater vehicle (AUV) which has an analytical solution [19].…”

Section: Introductionmentioning

confidence: 99%

Computational fluid dynamic study on design and modification of underwater remotely operated vehicle

Mayo,

Shi,

2023

J. Phys.: Conf. Ser.

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Remotely Operated Vehicle (ROV) has been widely used in numerous underwater exploration applications such as exploration of complex deep sea environment, pipeline detection, installation, maintenance, and repair. Thus, it is worthy to design, optimize, and performance evaluation of ROV systems for underwater exploration purposes. Computational Fluid Dynamic (CFD) is a computational approach that is very helpful and widely used to examine the flow characteristics of ROV systems. In this research work, CFD analyses of ROV bodies with different thruster blades were carried out in order to generate thrust forces by the thruster blades. For this purpose, ANSYS FLUENT was used to examine the flow characteristics over the ROV body. The analyses were performed at different flow velocities, such as 1 m/s, 1.5 m/s, 2 m/s, 2.5 m/s, 3 m/s and 3.5 m/s. The outcomes were in the form of thrust force, drag force, pressure distribution, and velocity distribution. The result shows that four-blade thruster generates maximum thrust force as compare to other ROV thruster models. The main reason behind this higher thrust force is due to the larger motion of the fluid. Similarly, drag force was also investigated and observed that the drag force is greater for thruster model 3, having four blades due to the large frontal area of the ROV body and thruster blades. The results obtained in this study are very helpful for engineers and researchers to design and optimize ROV models using numerical methods.

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“…Recently, computational fluid dynamics (CFD) has played a strong supporting role in calculating the hydrodynamic forces in modeling [ 27 , 28 , 29 , 30 , 31 ], where the geometry differences between small and large-scale vessels could be comprehensively considered to predict the favorable flow field characteristics in different size and/or shape vessels [ 31 , 32 , 33 , 34 , 35 ]. Thus, we conjectured that the high-quantity and high-quality expansion of hUCMSCs grown in a 3D stirred tank bioreactor could be achieved using CFD simulation.…”

Section: Introductionmentioning

confidence: 99%

Large-Scale Expansion of Human Umbilical Cord-Derived Mesenchymal Stem Cells in a Stirred Suspension Bioreactor Enabled by Computational Fluid Dynamics Modeling

et al. 2022

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Human umbilical cord-derived mesenchymal stem cells (hUCMSCs) hold great potential to generate novel and curative cell therapy products. However, the current large-scale cultivation of hUCMSCs is based on empirical geometry-dependent methods, limiting the generation of high-quantity and high-quality hUCMSCs for clinical therapy. Herein, we develop a novel scale-up strategy based on computational fluid dynamics (CFD) to effectively expand the hUCMSCs in a 3D tank bioreactor. Using a standardized hUCMSCs line on microcarriers, we successfully translated and expanded the hUCMSCs from a 200 mL spinner flask to a 1.5 L computer-controlled bioreactor by matching the shear environment and suspending the microcarrier. Experimental results revealed that the batch-cultured hUCMSCs in bioreactors with an agitation speed of 40 rpm shared a more favorable growth and physiological state, similar to that run at 45 rpm in a 200 mL spinner flask, showing comparability in both culture systems. Notably, the maximum cell density reached up to 27.3 × 105 cells/mL in fed-batch culture, 2.9 folds of that of batch culture and 20.2 times of seeding cells. As such, efficient process optimization and scale-up expansion of hUCMSCs were achieved in the microcarrier-based bioreactor system by the developed CFD simulation strategy, which provided an alternative toolbox to generate massive and standardized curative cell therapy products.

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Hydrodynamic calculation and analysis of a complex-shaped underwater robot based on computational fluid dynamics and prototype test

Cited by 19 publications

References 27 publications

Concept Design of the Underwater Manned Seabed Walking Robot

Concept Design of the Underwater Manned Seabed Walking Robot

Computational fluid dynamic study on design and modification of underwater remotely operated vehicle

Large-Scale Expansion of Human Umbilical Cord-Derived Mesenchymal Stem Cells in a Stirred Suspension Bioreactor Enabled by Computational Fluid Dynamics Modeling

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