Download or read book Autonomous Underwater Vehicle Propeller Simulation Using Computational Fluid Dynamic written by Muhamad Husaini and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Computational Fluid Dynamics written by Oleg Minin and published by BoD – Books on Demand. This book was released on 2011-07-05 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is planned to publish with an objective to provide a state-of-art reference book in the area of computational fluid dynamics for CFD engineers, scientists, applied physicists and post-graduate students. Also the aim of the book is the continuous and timely dissemination of new and innovative CFD research and developments. This reference book is a collection of 14 chapters characterized in 4 parts: modern principles of CFD, CFD in physics, industrial and in castle. This book provides a comprehensive overview of the computational experiment technology, numerical simulation of the hydrodynamics and heat transfer processes in a two dimensional gas, application of lattice Boltzmann method in heat transfer and fluid flow, etc. Several interesting applications area are also discusses in the book like underwater vehicle propeller, the flow behavior in gas-cooled nuclear reactors, simulation odour dispersion around windbreaks and so on.
Download or read book Computational Hydrodynamics and Control Modeling for Autonomous Underwater Vehicles written by and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Development of a computational Fluid Dynamic (CFD) based methodology for Autonomoun Undersea Vehicle (AUV) Design and performance prediction. Use of the CFD based methodology for a dynamic oceanic circumstance (shallow water). to develop a set of algorithms for vehicle control and to parametrically explore the range of environmental variables. Development of feature based navigation techniques using side scan sonar data of the sea floor.
Download or read book Marine Propellers and Propulsion written by John Carlton and published by Butterworth-Heinemann. This book was released on 2012-10-30 with total page 539 pages. Available in PDF, EPUB and Kindle. Book excerpt: The early development of the screw propeller. Propeller geometry. The propeller environment. The ship wake field, propeller performance characteristics.
Download or read book Submarine Hydrodynamics written by Martin Renilson and published by Springer. This book was released on 2015-03-10 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book adopts a practical approach and presents recent research together with applications in real submarine design and operation. Topics covered include hydrostatics, manoeuvring, resistance and propulsion of submarines. The author briefly reviews basic concepts in ship hydrodynamics and goes on to show how they are applied to submarines, including a look at the use of physical model experiments. The issues associated with manoeuvring in both the horizontal and vertical planes are explained, and readers will discover suggested criteria for stability, along with rudder and hydroplane effectiveness. The book includes a section on appendage design which includes information on sail design, different arrangements of bow planes and alternative stern configurations. Other themes explored in this book include hydro-acoustic performance, the components of resistance and the effect of hull shape. Readers will value the author’s applied experience as well as the empirical expressions that are presented for use at the preliminary design stage. A wide range of state-of-the-art material is included, and there are over fifty references to recent publications in the field. Intended for advanced students and professionals working in the specialised field of submarine hydrodynamics, this book brings theoretical and practical knowledge together in one comprehensive work that is particularly valuable to the submarine hydrodynamicist.
Download or read book Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators written by Bo Li and published by . This book was released on 2016 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontal plane motion. The demand for high-performance AUVs are growing in the eld of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative flows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coefficients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real uid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling effects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.
Download or read book Autonomous Underwater Vehicles written by Nuno Cruz and published by BoD – Books on Demand. This book was released on 2011-10-21 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are remarkable machines that revolutionized the process of gathering ocean data. Their major breakthroughs resulted from successful developments of complementary technologies to overcome the challenges associated with autonomous operation in harsh environments. Most of these advances aimed at reaching new application scenarios and decreasing the cost of ocean data collection, by reducing ship time and automating the process of data gathering with accurate geo location. With the present capabilities, some novel paradigms are already being employed to further exploit the on board intelligence, by making decisions on line based on real time interpretation of sensor data. This book collects a set of self contained chapters covering different aspects of AUV technology and applications in more detail than is commonly found in journal and conference papers. They are divided into three main sections, addressing innovative vehicle design, navigation and control techniques, and mission preparation and analysis. The progress conveyed in these chapters is inspiring, providing glimpses into what might be the future for vehicle technology and applications.
Download or read book Proceedings of International Conference on Intelligent Manufacturing and Automation written by Hari Vasudevan and published by Springer Nature. This book was released on 2023-03-01 with total page 713 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book comprises of selected papers presented at the Third International Conference on Intelligent Manufacturing and Automation (ICIMA 2022), which was organized by the Departments of Mechanical Engineering and Production Engineering of Dwarkadas J. Sanghvi College of Engineering (DJSCE), Mumbai, jointly with Indian Society of Manufacturing Engineers (ISME). The book focuses on specific topics of Intelligent Manufacturing, Automation, Advanced Materials and Design. It includes original research articles, focusing on the latest advances in the fields of Automation, Mechatronics & Robotics, CAD/CAM/CAE/CIM/FMS in Manufacturing, Artificial Intelligence in Manufacturing, IOT in Manufacturing, Product Design & Development, DFM/DFA/FMEA, MEMS & Nano Technology, Rapid Prototyping, Computational Techniques, Nano & Micro-machining, Sustainable Manufacturing, Industrial Engineering, Manufacturing Process Management, Modelling & Optimization Techniques, CRM, MRP & ERP, Green, Lean & Agile Manufacturing, Logistics & Supply Chain Management, Quality Assurance & Environment protection, Advanced Material Processing & Characterization and Composite & Smart Materials. It is hoped that the contents in the book will serve as reference for future researchers. The book is also expected to act as a valuable resource for the students of Post Graduate and Doctoral Programmes.
Download or read book OCEANS 2017 Anchorage written by and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Download or read book CFD Simulation of an Unmanned Underwater Vehicle Manoeuvring written by Zeeshan Riaz and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Collective Dynamics and Control of a Fleet of Heterogeneous Marine Vehicles written by Chuanfeng Wang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010.
Download or read book CFD Simulation of an Unmanned Underwater Vehicle Manoeuvring written by and published by . This book was released on 2015 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Engineering Applications for New Materials and Technologies written by Andreas Öchsner and published by Springer. This book was released on 2018-01-25 with total page 645 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the expertise, skills, and techniques needed for the development of new materials and technologies. It focuses on finite element and finite volume methods that are used for engineering simulations, and present many state-of-the-art applications and advances to highlight these methods’ importance. For example, modern joining technologies can be used to fabricate new compound or composite materials, even those formed from dissimilar component materials. These composite materials are often exposed to harsh environments, must deliver specific characteristics, and are primarily used in automotive and marine technologies, i.e., ships, amphibious vehicles, docks, offshore structures, and even robots. To achieve the desired material performance, computer-based engineering tools are widely used for simulation, data evaluation, and design processes.
Download or read book Computational Fluid Dynamics Study for Optimization of a Fin Design written by and published by . This book was released on 2005 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three-dimensional, unsteady computations of an Unmanned Underwater vehicle with flapping fins were carried out. Several parametric studies were performed varying the amplitude and frequency of oscillation of the fin and the angle of attack of the fin at the root. The objective of these computations was to investigate the importance of these parameters on the fluid dynamics of force production in order to propel the vehicle at a constant speed of 3 kt. An unstructured grid-based unsteady Navier-Stokes solver with automatic adaptive remeshing was used to compute the flow about the vehicle through several complete cycles of fin oscillation for each of the cases studied. The computations show that the angle of attack of 20 of the root section of the fin is near optimum. The vehicle is capable of sustaining a 3 kt current and maintaining position with the fins flapping at a frequency of 2 Hz and an amplitude of 11 4%. As the frequency of oscillation is increased, the net thrust produced increases, but the vehicle will be subjected to large excursions in the normal force. As the fin is made rigid, there is a substantial penalty in lift during the upstroke.
Download or read book Numerical Prediction of Flow Heat Transfer Turbulence and Combustion written by Dudley Brian Spalding and published by Pergamon. This book was released on 1983 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Labriform swimming Robot written by Farah Abbas Naser and published by World Scientific. This book was released on 2021-10-22 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a simplified description of how to design an underwater swimming robot, inspired by the mechanism of the Labriform mode of fish. This style of swimming depends on the pectoral fins only as a main locomotor for movement. A unique model with fins having a concave shape allows the highest thrust force to be achieved during the power period and the lowest drag force during the recovery period, especially if the velocity values between the powering and recovery periods are manipulated.Besides the ability to swim quickly, the proposed model was also inspired by a method of maneuvering based on the principle of differential drive for two-wheel mobile robot, achieving the minimum turning radius by controlling the speed of the rowing fins.Also, by applying the technique of the diving model used by gliders, the robot achieves underwater gliding by changing the center of the body's mass. Thus, the robot obtains the ability to dive and float in a manner similar to the Sawtooth wave.All the mentioned tasks were conducted via laboratory experiments and proven to be both effective and efficient.
