The effects of the circulating water tunnel wall and support struts on hydrodynamic coefficients estimation for autonomous underwater vehicles

Huang, Hai; Zhou, Zexing; Li, Hongwei; Zhou, Hao; Yang, Xu

doi:10.1016/j.ijnaoe.2019.04.008

Cited by 16 publications

(6 citation statements)

References 13 publications

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“…Coefficients a 23 , a 13 and a 12 belong to the state variable associated with the dynamic equations. Equation (8) shows the velocity in the yaw axis, which influences the characterization of the FOV. This will be defined in Section 2.2.…”

Section: Auv Guidance Systemmentioning

confidence: 99%

“…The relationship between the AUV motion and the FOV conditions is obtained by Equation ( 17) and by modifying Equation (8) to employ the FOV definition. The yaw velocity shows the variation of altitude per variation of time and, for this case study, the altitude is defined by the FOV conditions of the operation.…”

Section: Gifovmeas < R (15)mentioning

confidence: 99%

“…AUVs are developed to operate under extreme conditions, managing trajectories by themselves through the use of sensors and advanced algorithms [3,4]. Underwater operations are designed to survey large areas of the seafloor [5,6] and, therefore, accurate management of the operational parameters is essential to ensure a reliable measurement process and increase the efficiency of data analysis [7,8].…”

Section: Introductionmentioning

confidence: 99%

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Autonomous Underwater Vehicles and Field of View in Underwater Operations

Ramírez

Sánchez

Papaelias

et al. 2021

JMSE

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Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

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Section: Auv Guidance Systemmentioning

confidence: 99%

Section: Gifovmeas < R (15)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Autonomous Underwater Vehicles and Field of View in Underwater Operations

Ramírez

Sánchez

Papaelias

et al. 2021

JMSE

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“…The hydrodynamic coefficient is the key coefficient of the maneuverability motion equation of underwater vehicles. Based on the maneuverability motion equation of underwater vehicles, the maneuverability motion is simulated [1] , in which the calculation of the hydrodynamic coefficient must have considerable accuracy. In the whole moving process of underwater vehicles, the navigation motion on the horizontal plane is the most common motion state, which has important research significance.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic coefficient estimation for underwater vehicle maneuvering

Luo¹,

Guan²,

Wang³

2023

International Conference on Computer, Artificial Intelligence, and Control Engineering (CAICE 2023)

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The hydrodynamic coefficient is the basis of the research on the maneuverability of underwater vehicles. In recent years, with the rapid development of underwater unmanned systems, the research on the calculation of hydrodynamic coefficient has attracted extensive attention from scholars at home and abroad. Taking an underwater vehicle as the research object to solve its hydrodynamic coefficient, three methods are used to calculate the hydrodynamic coefficient of the horizontal kinematic equation of the underwater vehicle: theoretical estimation, system identification based on actual navigation data and numerical simulation using the hydrodynamic calculation software FLUENT. In the end, the advantages, disadvantages, and applicable conditions of the three calculation methods are summarized.

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“…However with increase in computational facilities in recent years, computational fluid dynamics (CFD) based numerical simulations can be considered as an alternate approach for the fluid dynamic studies related to AUVs (Huang et al, 2019;Jagadeesh and Murali, 2005;Mansoorzadeh and Javanmard, 2014).…”

Section: Introductionmentioning

confidence: 99%

The hydrodynamic characteristics of Autonomous Underwater Vehicles in rotating flow fields

Mitra¹,

Panda²,

Warrior³

2021

Preprint

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In this article, the hydrodynamic characteristics of Autonomous Underwater Vehicles (AUVs) are investigated and analyzed under the influence of rotating flow fields, that were generated in a recirculating water tank via a rotating propeller. Initially, experiments were carried out for the measurement of flow field variables and Quantities of Interest across the AUV in the presence of the rotating propeller while varying the rotational speed and the extent of rotational flow strength. The flow field across the AUV was measured using an Acoustic Doppler Velocimeter (ADV). These measured turbulent flow statistics were used to validate the Reynolds Stress Model (RSM) based numerical predictions in a commercial CFD solver. After preliminary validation of the turbulent flow statistics with the numerical predictions, a series of numerical simulations were performed to investigate the effect of the rotational flow field of the propeller on the drag, skin friction and pressure coefficients of the AUV. The operating speed and location of the propeller were also varied to check their affects on the hydrodynamic performance of AUV. The results provided in this article will be useful for the design optimization of AUVs cruising in shallow water where the flow is highly rotational because of wave-current interactions. Additionally the results and analysis are relevant to study the design and operation of AUVs that have to operate in a group of unmanned underwater vehicles or near submarines and ships where the flow field is highly complex and such rotational effects are present.

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The effects of the circulating water tunnel wall and support struts on hydrodynamic coefficients estimation for autonomous underwater vehicles

Cited by 16 publications

References 13 publications

Autonomous Underwater Vehicles and Field of View in Underwater Operations

Autonomous Underwater Vehicles and Field of View in Underwater Operations

Hydrodynamic coefficient estimation for underwater vehicle maneuvering

The hydrodynamic characteristics of Autonomous Underwater Vehicles in rotating flow fields

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