The effect of appendages on the hydrodynamic characteristics of an underwater vehicle near the free surface

An underwater vehicle typically has various appendages such as sail, rudders and hydroplanes. These appendages affect the hull hydrodynamic characteristics, including the resistance components and the form of the generated wave due to the motion of the vehicle near the free surface. The effect of the appendages on the hydrodynamic characteristics of an underwater vehicle near the free surface is studied. Initially the DARPPA SUBOFF submarine without the appendages is selected and hydrodynamic characteristics, including the friction resistance, viscous pressure resistance, wave resistance and shape of the created wave on the free surface are calculated for Froude numbers in the range of 0.128–0.84 and non-dimensional submergence depths 1.3, 2.2, 3.3 & 4.4. Then, by adding the appendages and comparing these two conditions, the effect of appendages is obtained. The results of computations indicate that the appendages cause a mean increase of about 16% in the total resistance. This increment is due to viscosity of fluid and also the interaction of the main hull with the appendages. There are no significant changes in the wave pattern and wave making resistance due to the presence of appendages.     

Study of a jet-propulsion method for an underwater vehicle

This paper investigates a novel jet-propulsion method for a submerged vehicle. The approach is based on flexible-tube, eccentric rotor, Downingtown-Huber type pumps. Equations of motion are derived for a craft driven by such pumps. In order to develop general insight into the overall dynamics of the system, simulations are carried out for the simple case of horizontal straight-line motion. Results are obtained for the vehicle velocity, distance traveled, pump speed, and energy consumption. Effect of drag forces on the operation of the craft is studied. Finally, the jet-propulsion system is compared with conventional screw-type propulsors via simulation.     

URANS investigation of the interaction between the free surface and a shallowly submerged underwater vehicle at steady drift

An axisymmetric underwater vehicle (UV) at a steady drift angle experiences the complex three-dimensional crossflow separation. This separation arises from the unfavorable circumferential pressure gradient developed from the windward side toward the leeward side. As is well known, the separated flow in the leeward side gives rise to the formation of a pair of vortices, which affects considerably the forces and moments acting on the UV. In this regard, the main purpose of the present study is to evaluate the role of the leeward vortical flow structure in the hydrodynamic behavior of a shallowly submerged UV at a moderate drift angle traveling beneath the free surface. Accordingly, the static drift tests are performed on the SUBOFF UV model using URANS equations coupled with a Reynolds stress turbulence model. The simulations are carried out in the commercial code STARCCM+ at a constant advance velocity based on Froude number equal to F_n = 0.512 over submergence depths and drift angles ranging from h = 1.1D to h = ∞ and from β = 0 to β = 18.11°, respectively. The validation of the numerical model is partially conducted by using the existing experimental data of the forces and moment acting on the totally submerged bare hull model. Significant interaction between the low-pressure region created by the leeward vortical flow structure and the free surface is observed. As a result of this interaction, the leeward vortical flow structure appears to be largely responsible for the behavior of the forces and moments exerted on a shallowly submerged UV at steady drift.     

Dynamics and control of a towed underwater vehicle system, part I: model development

Autonomous vehicles are being developed to replace the conventional, manned surface vehicles that tow mine hunting towed platforms. While a wide body of work exists that describes numerical models of towed systems, they usually include relatively simple models of the towed bodies and neglect the dynamics of the towing vehicle. For systems in which the mass of the towing vehicle is comparable to that of the towed vehicle, it becomes important to consider the dynamics of both vehicles. In this work, we describe the development of a numerical model that accurately captures the dynamics of these new mine hunting systems. We use a lumped mass approximation for the towcable and couple this model to non-linear numerical models of an autonomous surface vehicle and an actively controlled towfish. Within the dynamics models of the two vehicles, we include non-linear controllers to allow accurate maneuvering of the towed system.     

Dynamics and control of towed underwater vehicle system, part II: model validation and turn maneuver optimization

This paper presents a validation of a three-dimensional dynamics model of a towed underwater vehicle system and discusses an application of the model to improve the performance of the system during a turn maneuver. The model was validated by comparing its results to experimental sea trial data, as well as to results from another independently developed simulation. The dynamics model was then imbedded in an optimization routine. This routine was used to vary turn radii in order to improve the U-turn performance. Significant improvements were obtained relative to a standard semicircular turn geometry.     

Prediction of hydrodynamic loading on a mini TLP with free surface effects

This paper describes the extension of a fluid-flow simulations method to capture the free surface evolution around a full-scale Tension Leg Platform (TLP). The focus is on the prediction of the resulting hydrodynamic loading on the various elements of the TLP in turbulent flow conditions and, in particular, on quantifying the effects of the free surface distortion on this loading. The basic method uses finite-volume techniques to discretize the differential equations governing conservation of mass and momentum in three dimensions. The time-averaged forms of the equations are used, and the effects of turbulence are accounted for by using a two-equation, eddy-viscosity closure. The method is extended here via the incorporation of surface-tracking algorithm on a moving grid to predict the free-surface shape. The algorithm was checked against experimental measurements from two benchmark flows: the flow over a submerged semi-circular cylinder and the flow around a floating parabolic hull. Predictions of forces on a model TLP were then obtained both with and without allowing for the deformation of the free surface. The results suggest that the free surface effects on the hydrodynamic loads are small for the values of Froude number typically encountered in offshore engineering practice.     

CFD analysis of the sensitivity of propeller bearing loads to stern appendages and propulsive configurations

The present investigation focuses on the effects of the stern appendages and the propulsion system on the hydro-loads generated by the propeller during off-design conditions, with particular emphasis on the in-plane components. Recent experimental investigations carried out by free running model tests [7], [8] and CFD analysis [5] for a modern twin screw model, highlighted that maneuvers at small drift angles and yaw rates might be as critical as the tighter ones due to complex propeller-wake interactions. Therefore, design criteria should take into account also these operative conditions, in order to reduce the effects of propeller-wake interaction phenomena that degrade the overall propulsive efficiency, induce shaft/hull structural vibration and increase noise emission. In the present study we analyze the effects of geometric and propulsive modifications with respect to the twin screw configuration studied in [5]. In particular, the effect of the centreline skeg, propeller direction of rotation and control strategies of the propulsion plant on the propeller bearing loads have been investigated from the analysis of the nominal wake in maneuvring conditions, computed by unsteady RANSE simulations coupled with a propeller model based on Blade Element Theory. The considered test cases were turning circle maneuvers with different rudder angles at F_N = 0.265.     

Hydrodynamic derivatives and motion response of a submersible surface ship in unbounded water

A submersible surface ship (SSS) is based on a novel concept that the SSS goes on surface like conventional ships in moderate seas but goes underwater in rough seas to the depth sufficient to avoid wave effects. The SSS has a wing system that produces downward lift to go underwater with preserving the residual buoyancy for its safety. The SSS is expected to be able to keep both safety and punctuality even if it encounters unexpected bad weather.The motion of the SSS is studied. The equations of motion are formulated and the procedures for estimating hydrodynamic derivatives are presented. The hydrodynamic derivatives are estimated for a SSS having a configuration, a hull with a pair of main wings and a pair of horizontal tail wings. Using these estimated hydrodynamic derivatives, calculation of the SSS motion is carried out.The calculation results show some specific aspects of the SSS especially for effects of the elevator of main wings and horizontal tail wings, aileron of main wings, rudder and propeller revolution. It is confirmed that the existence of static roll restoring moment and having large hull comparing with wing area play important roles in the motion of the SSS.     

Numerical prediction of the effective wake profiles of a high-speed underwater vehicle with contra-rotating propellers

A numerical method is proposed to predict the effective wake profiles of high speed underwater vehicles propelled by contra-rotating propellers (CRPs), in which the hydrodynamic effects of the CRPs are simulated by distributed body forces. First, Reynolds-averaged Navier-Stokes (RANS) simulations are conducted for identical body-force distributions in open-water and self-propulsion conditions. The effective wake profiles at the CRP disks are then obtained by subtracting the velocities induced by the body forces in the open water from those induced by the body forces in the self-propulsion condition. The effective wake profiles were then predicted for a generic underwater vehicle with an established CRP design. Next, the hydrodynamic performance of the CRPs in the effective wake was computed using an in-house vortex-lattice code. The potential-flow results agree well with those provided by the RANS simulation under the self-propulsion condition, indicating that the proposed method can predict the effective wake profiles for CRPs with reasonable accuracy. The influences of different wake components on the blade forces were investigated, determining that for CRPs, and especially for the aft propeller, the circumferential wake cannot be neglected in the design.     

Computations of self-propulsion free to sink and trim and of motions in head waves of the KRISO Container Ship (KCS) model

Two computations of the KCS model with motions are presented. Self-propulsion in model scale free to sink and trim are studied with the rotating discretized propeller from the Hamburg Model Basin (HSVA) at Fr = 0.26. This case is particularly complex to simulate due to the close proximity of the propeller to the rudder. The second case involves pitch and heave in regular head waves. Computations were performed with CFDShip-Iowa version 4.5, a RANS/DES CFD code designed for ship hydrodynamics. The self-propulsion computations were carried out following the procedure described in Carrica et al. [1], in which a speed controller is used to find the propeller rotational speed that results in the specified ship velocity. The rate of revolutions n, sinkage, trim, thrust and torque coefficients K_T, K_Q and resistance coefficient CT_(SP) are thus obtained. Comparisons between CFD and EFD show that the rate of revolutions n, thrust and torque coefficients K_T and K_Q have higher prediction accuracies than sinkage and trim. For the simulation of pitch and heave in head waves, the geometry includes KCS hull and rudder under three conditions with two Froude numbers and three wave length and amplitude combinations. 0th and 1st harmonic amplitudes and 1st harmonic phase are computed for total resistance coefficient C_T, heave motion z and pitch angle θ. Comparisons between CFD and EFD show that pitch and heave are much better predicted than the resistance. In both cases comparisons with simulations by other authors presented at the G2010 CFD Workshop [2] using different CFD methodologies are included.     

Analytical design of an underwater construction robot on the slope with an up-cutting mode operation of a cutter bar

In this paper, the movements of the analytical models of complete underwater tracked vehicle (UTV) and cutter bar (CB) tool systems on a surface as well as their movements up and down a slope in the up-cutting mode operation are fully studied and analyzed. First, the mathematical expression of the mechanics, for which the forces, moments, and energy from the CB to the UTV are analyzed, is related. Next, analyses on the systemic parameters and their sensitivity are conducted to observe the variations of the operational and geometric parameters, as well as the cutter-tool and material-condition effects on the force, moment, and power components. Also, a design process composed of seven typical steps is proposed as the reference of a trencher-machine design. The important design parameters of the trenching machine such as the length of the CB, the nose radius of the CB, and the height of the pivot point are designed according to the proposed design process; furthermore, these parameters are used for the estimation of the slope-angle range when the trencher system is working on the slope. To demonstrate the application of derived equations to practical problems of the machine design, a number of numerical simulations are performed. Through the numerical simulations, the important parameters of the system such as the tangential force, F_t, the tractive thrust, H, the normal reaction, V, the cutting moment, M_c, the maximum carrier weight, W, and the available power are analyzed. From these, as a reference data for the designing of a trencher machine, the previous design of the system can be improved.     

Wave driven free surface motion in the gap between a tanker and an FLNG barge

When two vessels are moored side-by-side with a narrow gap between them, intense free surface motions may be excited in the gap as a result of complex hydrodynamic interactions. These influence the motions of the two vessels, and the forces in any moorings. The present paper uses first and second order wave diffraction analysis to investigate this phenomenon. Key theoretical aspects of the numerical analysis are first summarised, including the vital need to suppress “irregular frequency” effects; and results are given to validate the code used. The case of a tanker alongside a large floating FLNG barge is then considered in detail.     

Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves.     

Development of the AUV ‘ISiMI’ and a free running test in an Ocean Engineering Basin

The Korea Ocean Research and Development Institute (KORDI) has developed a small AUV named ISiMI. The mission of ISiMI is to work as a test-bed AUV for the development and validation of various algorithms and instruments required to enhance the AUV's functions. The design concept of ISiMI is that of a vehicle small enough to cruise the Ocean Engineering Basin (OEB) of KORDI and to be handled by one or two people. The downsized design and the cruising ability in its tank enable fast experimental feedback on AUV technologies and a shorter development period for new technologies. This paper presents a review of our research work on the development of ISiMI, with a performance evaluation by simulation and an experimental test. After the design and implementation of ISiMI, including its positioning system in the OEB, are presented, a series of test results in the OEB and discussions of the results are presented, with comparisons of the simulation and experimental outputs.     

1972—2013年杭州湾北岸金山深槽演变特征与稳定性分析

运用GIS技术对1972-2013年金山深槽的冲淤特征、演变机制及稳定性进行分析,结果表明:(1)长期来看,15m深槽区以冲刷为主,冲刷区占总面积的88.05%,冲刷量(120.35×106 m3)远大于淤积量(3.76×106 m3),年均净冲刷速率为7.46cm/a;深槽整体向纵深发展,纵长增加了7.34km,展宽增加近1km,且有明显向南展宽趋势;抗冲刷沉积层使得深槽在强潮冲刷下具有一定的稳定性,平均和最大深度波动幅度较小,平均深度维持在21.01~23.59m,最大深度在46.90~51.00m间且分布集中。(2)短期来看,特定地形条件下的冲淤变化明显受人类活动所致水沙变化的影响。2002-2012年,年均净冲刷速率高达22.14cm/a,2012-2013年,冲淤基本平衡。(3)基于15m、20m、25m深槽区中轴线摆动幅度的稳定分析可知,深槽大部分区域处于稳定状态,稳定区范围均占65%以上,但在第6次围堤西侧和城市沙滩前处于不稳定状态,摆动幅度较大,建议加强附近水文监测以及海堤安全评估。     

Effect of strain-dependent dynamic properties of backfill and foundation soil on the external stability of geosynthetic reinforced waterfront retaining structure subjected to harmonic motion

A simplified method to determine the minimum length of reinforcement required for the external stability of waterfront reinforced soil structures under seismic conditions is presented. In the present analysis, strain-dependent dynamic properties (shear modulus and damping ratio) are used. The results obtained from the present method are well compared with the results of pseudo-static method of analysis. For the set of input parameters, the estimated minimum length of reinforcement required against sliding failure is nearly 27–29% higher for an input normalized frequency of 1.06 and is nearly 22–25% lower for another input normalized frequency of 1.94 when compared with the results of pseudo-static approach. This can be attributed to the mode change behaviour of the waterfront structure. In addition, the effect of foundation type on the external stability of waterfront reinforced soil structures has also been presented and it is found that the foundation type has a significant effect on the same. For the given set of input parameters, the length of minimum reinforcement required for a slope and vertical wall having a flexible foundation are about 26–28% and 32–38% larger than that of a slope and vertical wall with rigid foundation, respectively.     

Using stable isotope analysis to determine the effects of ocean acidification and warming on trophic interactions in a maerl bed community

Ocean acidification and warming are likely to affect the structure and functioning of marine benthic communities. This study experimentally examined the effects of ocean acidification and warming on trophic interactions within a maerl bed community by using stable carbon and nitrogen isotope analysis. Two three-month experiments were conducted in winter and summer seasons with four different combinations of pCO₂ (ambient and elevated pCO₂) and temperature (ambient and +3°C). Experimental assemblages were created in tanks held in the laboratory and were composed of calcareous (Lithothamnion corallioides) and fleshy algae (Rhodymenia ardissonei, Solieria chordalis, and Ulva sp.), gastropods (Gibbula magus and Jujubinus exasperatus), and sea urchins (Psammechinus miliaris). Our results showed higher seaweed availability for grazers in summer than winter. Therefore, grazers were able to adapt their diet seasonally. Increased pCO₂ and temperature did not modify the trophic structure in winter, while shifts in the contribution of seaweed were found in summer. Combined acidification and warming increased the contribution of biofilm in gastropods diet in summer conditions. Psammechinus miliaris mostly consumed L. corallioides under ambient conditions, while the alga S. chordalis became the dominant food source under high pCO₂ in summer. Predicted changes in pCO₂ and temperature had complex effects on assemblage trophic structure. Direct effects of acidification and warming on seaweed metabolism may modify their abundance and biomass, affecting their availability for grazers. Climate change may also modify seaweeds' nutritive value and their palatability for grazers. The grazers we investigated were able to change their diet in response to changes in algal assemblages, an advantage given that warming and acidification alter the composition of algal communities.