Quasi-static analysis of the hydrodynamic interaction effects on an autonomous underwater vehicle operating in proximity to a moving submarine

One of the most highly debated questions in the field of animal swarming and social behaviour, is the collective random patterns and chaotic behaviour formed by some animal species, in particular if there is a danger. Is such a behaviour beneficial or unfavourable for survival? Here we report on one of the most remarkable forms of animal swarming and social behaviour -fish schooling -from a hydrodynamic point of view. We found that some fish species do not have preferred orientation and they swarm in a random pattern mode, despite the excess of energy consumed. Our analyses, which includes calculations of the hydrodynamic forces between slender bodies, show that such a behaviour enhances the transfer of hydrodynamic information, and thus enhances the survivability of the school. These findings support the general hypothesis that a disordered and non-trivial collective behaviour of individuals within a nonlinear dynamical system is essential for optimising transfer of information -an optimisation that might be crucial for survival.

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“…The work presented here can also be applied for interaction between multiple AUV's with a submarine, e.g. Leong et. al (2015).…”

Section: Discussionmentioning

confidence: 99%

Random patterns in fish schooling enhance alertness: A hydrodynamic perspective

Kadri

Brümmer

Kadri

2016

EPL

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“…Leong et al 39 have studied the hydrodynamic interactions of a submarine on an autonomous underwater vehicle. The hydrodynamic interactions of submarines can result in an uncontrolled motion of AUV.…”

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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“…Hydrodynamic-interaction performance of AUVs in waves is critical to attitude-controller design and has recently been receiving intensive attention. A few works have been done on the prediction of hydrodynamic-interaction forces and moments between surface and underwater vessels [5][6][7][8]. The hydrodynamic-interaction issues associated with AUVs approaching a cone-shaped dock in ocean currents were studied in the literature [5].…”

Section: Introductionmentioning

confidence: 99%

“…In fact, the effect of hydrodynamic interaction on wave loads on the AUV model was substantial enough to cause inefficiently controlled vessel motions during such operations. Zhi et al [8] presented quasistatic analysis of hydrodynamic interactions between an AUV and a host submarine for controlling the AUV recovered to the submarine well.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic-Interaction Analysis of an Autonomous Underwater Hovering Vehicle and Ship with Wave Effects

Chen

Cai

2019

Symmetry

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A new vertical axis-symmetrical dish-shaped autonomous underwater vehicle (AUV) with excellent maneuverability, known as the autonomous underwater hovering vehicle (AUH), is proposed. This study investigates an important working model of the AUH approaching a host ship in waves. The working model of AUH–Ship interactions deals with hydrodynamic interaction, seakeeping performance for communication, launch, and recovery near a free surface. The AUH is able to navigate and implement homing automation through acoustic positioning equipment, a depth sensor, a heading compass, and a Doppler velocity log (DVL) in the working area based on numerical analysis of AUH–Ship hydrodynamic performance in this study. The hydrodynamic-interaction performance of the AUH and ship near free surfaces is analyzed in the frequency and time domains using a potential-based surface-panel method based on a commercial computational fluid dynamics (CFD) solver (ANSYS-AQWA), i.e., a 3D panel code of seakeeping performance module in the ANSYS platform where the fluid is assumed to be irrotational, inviscid, and incompressible. The motion performance of the AUH approaching the host ship, with a dynamic positioning system in waves, is studied by estimating interactive response-amplitude operators (RAOs) of the AUH and host ship in 6-DOF that were estimated and analyzed at different wave amplitudes and frequencies. In the ship and AUH interaction simulations, the host ship is assumed to be a well-posed station keeping in waves with zero service speed. The AUH and ship interference effect is studied at different distances to appropriate recovery and launch positions for the AUH at the following sea and beam sea, i.e., wave-encounter angles 0° and 90°, respectively. In addition, the hydrodynamic interaction of the AUH and ship in yaw and roll at different AUH velocities is estimated. The AUH motion performance approaching the ship in long-crested irregular seas is analyzed in the time domain using the Pierson–Moskowitz wave spectrum model. Viscid hydrodynamic force on AUH motion in roll near a free surface was significant. A damping model was adopted to formulate the viscid effect to enhance the effectiveness of the ANSYS-AQWA inviscid potential-based solver. Numerical analysis of motion RAO of the AUH in roll with the damping effect was compared to the experimental data in wave-frequency range 0.2–1.0 Hz, resulting in the average error being reduced from 21.03% to 9.95% to verify the method’s accuracy. The proposed method conveniently and accurately predicted hydrodynamic-interaction characteristics and motion RAO for a dish-type AUH and host ship for the precise use of mounted sensors in waves. The results of these simulations can be used to analyze the homing automation and adaptive controllability to advance the AUV development and design.

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Quasi-static analysis of the hydrodynamic interaction effects on an autonomous underwater vehicle operating in proximity to a moving submarine

Cited by 37 publications

References 10 publications

Random patterns in fish schooling enhance alertness: A hydrodynamic perspective

Random patterns in fish schooling enhance alertness: A hydrodynamic perspective

A review on the hydrodynamic characteristics of autonomous underwater vehicles

Hydrodynamic-Interaction Analysis of an Autonomous Underwater Hovering Vehicle and Ship with Wave Effects

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