scholarly journals Hydrodynamic Performance of Open-frame Deep Sea Remotely Operated Vehicles Based on Computational Fluid Dynamics Method

2022 ◽  
Vol 4 (1) ◽  
Author(s):  
Qianrong Li ◽  
Baoji Zhang
Keyword(s):  
Deep Sea ◽  
Hydrodynamic Performance ◽  
Navier Stokes ◽  
Remotely Operated Vehicles ◽  
Modeling Process ◽  
Motion Time ◽  
Force Moment ◽  
The Stability ◽  
Six Degree Of Freedom ◽  
Resistance Performance

The resistance performance and motion stability of deep sea remotely operated vehicles (ROVs) subjected to underwater motion conditions are studied on the basis of the unsteady Reynolds-averaged Navier-Stokes method combined with the six-degree-of-freedom equation of motion to quickly and accurately predict them. In the modeling process, we consider the complexity of ROV geometry and thus reduce the model to a series of regular geometries to maximize the position and weight of the original components. The grid and value slots of an ROV are divided, and the surface is reconstructed. The forward, backward, transverse, floating, and submerged resistance of ROVs are simulated and compared with existing experimental forces to determine the accuracy of the calculation method. Then, the oblique navigation of the ROV on the horizontal and vertical planes is studied. Furthermore, the motion response of the ROV to direct horizontal motion, heave, pitch, and yaw are studied. The force, moment, and motion time curves are obtained. The stability of ROV motion is analyzed to provide technical support for the safety of ROVs.

scholarly journals Numerical Prediction of Hydrodynamic Performance of Planing Trimaran with a Wave-Piercing Bow

2020 ◽  
Vol 8 (11) ◽  
pp. 897
Author(s):  
Guangsheng Su ◽  
Hailong Shen ◽  
Yumin Su
Keyword(s):  
Experimental Tests ◽  
Pressure Change ◽  
Hydrodynamic Performance ◽  
Pressure Area ◽  
Fluid Body ◽  
Sinkage And Trim ◽  
Reduction Effect ◽  
Six Degree Of Freedom ◽  
Resistance Performance ◽  
The Relationship

The central hull is the most important structure in the planing trimaran. In order to gain insight into the relationship between hydrodynamic performance and main hull shape, experimental tests and numerical simulations were carried out for volume Froude Number (FrΔ) ranging from 1.31 to 4.98. Dynamic sinkage and trim in the Dynamic Fluid Body Interaction (DFBI) six-degree-of-freedom model were considered. A validation study carried out by comparison of experimental test results with numerical results showed good consistency. To analyze the process of tunnel penetration and pressure change at the bottom of the boat, numerical simulation results for free surface, bottom streamline, and pressure distribution around the hull are given. A large triangular high-pressure area was observed in the front of the main hull for all volume Froude numbers. Consequently, the central drainage body, in reference to the profile of single planing craft with distinctive resistance performance, was redesigned into a wave-piercing shape. Total resistance, sinkage, and trim angle of the new model were then predicted by numerical method. The results show that the central drainage body has a significant impact on the hydrodynamic performance of the planing trimaran. Furthermore, the wave-piercing shaped main hull has a drag reduction effect.

Resistance performance simulation of remotely operated vehicle in deep sea considering propeller rotation

2019 ◽  
Vol 234 (2) ◽  
pp. 585-598
Author(s):  
Zhang Bao-Ji ◽  
Lu Xin-Di ◽  
She Wen-Xuan
Keyword(s):  
Deep Sea ◽  
Vertical Motion ◽  
Navier Stokes ◽  
Design Stage ◽  
Force Model ◽  
Remotely Operated Vehicle ◽  
Movement Stability ◽  
Shaft Torque ◽  
Continuous Work ◽  
Resistance Performance

In order to predict the resistance performance and movement stability of deep-sea remotely operated vehicle quickly and accurately, the steady-state Reynolds-averaged Navier–Stokes method is used to simulate the force of open-frame remotely operated vehicle with propeller in motion. Volume force model is adopted to simulate the interaction between the propeller and the remotely operated vehicle, solving the force of remotely operated vehicle under the continuous work of two or four screw propellers in the horizontal and vertical motion, as well as the propeller thrust and shaft torque. In addition, according to the simulation result, the shaft torque of the symmetrical distributed propeller is almost equal, so it will not affect the movement stability of remotely operated vehicle. Since no experimental results of these drags and torques have not been performed in this study, it is important to validate the computational fluid dynamics methodology with experimental data and associated motion phenomena by means of numerical simulation. This is the preliminary design stage where extensive hydrodynamic test facilities are not available.

The stability of stationary solution for outflow problem on the navier-stokes-poisson system

2016 ◽  
Vol 36 (4) ◽  
pp. 1098-1116 ◽  
Author(s):  
Mina JIANG ◽  
Suhua LAI ◽  
Haiyan YIN ◽  
Changjiang ZHU
Keyword(s):  
Stationary Solution ◽  
Navier Stokes ◽  
Poisson System ◽  
The Stability

An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

Advanced Numerical Methods for the Prediction of Tonal Noise in Turbomachinery—Part I: Implicit Runge–Kutta Schemes

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Graham Ashcroft ◽  
Christian Frey ◽  
Kathrin Heitkamp ◽  
Christian Weckmüller
Keyword(s):  
Stokes Equations ◽  
Temporal Integration ◽  
Aerodynamic Noise ◽  
Navier Stokes ◽  
Noise Generation ◽  
Academic Problems ◽  
Tonal Noise ◽  
Navier Stokes Equations ◽  
Runge Kutta ◽  
The Stability

This is the first part of a series of two papers on unsteady computational fluid dynamics (CFD) methods for the numerical simulation of aerodynamic noise generation and propagation. In this part, the stability, accuracy, and efficiency of implicit Runge–Kutta schemes for the temporal integration of the compressible Navier–Stokes equations are investigated in the context of a CFD code for turbomachinery applications. Using two model academic problems, the properties of two explicit first stage, singly diagonally implicit Runge–Kutta (ESDIRK) schemes of second- and third-order accuracy are quantified and compared with more conventional second-order multistep methods. Finally, to assess the ESDIRK schemes in the context of an industrially relevant configuration, the schemes are applied to predict the tonal noise generation and transmission in a modern high bypass ratio fan stage and comparisons with the corresponding experimental data are provided.

Investigation of the stability of boundary layers by a finite-difference model of the Navier—Stokes equations

1976 ◽  
Vol 78 (2) ◽  
pp. 355-383 ◽  
Author(s):  
H. Fasel
Keyword(s):  
Finite Difference ◽  
Stability Theory ◽  
Stokes Equations ◽  
Time Dependent ◽  
Linear Stability Theory ◽  
Navier Stokes ◽  
Experimental Measurements ◽  
Navier Stokes Equations ◽  
The Stability ◽  
Small Periodic

The stability of incompressible boundary-layer flows on a semi-infinite flat plate and the growth of disturbances in such flows are investigated by numerical integration of the complete Navier–;Stokes equations for laminar two-dimensional flows. Forced time-dependent disturbances are introduced into the flow field and the reaction of the flow to such disturbances is studied by directly solving the Navier–Stokes equations using a finite-difference method. An implicit finitedifference scheme was developed for the calculation of the extremely unsteady flow fields which arose from the forced time-dependent disturbances. The problem of the numerical stability of the method called for special attention in order to avoid possible distortions of the results caused by the interaction of unstable numerical oscillations with physically meaningful perturbations. A demonstration of the suitability of the numerical method for the investigation of stability and the initial growth of disturbances is presented for small periodic perturbations. For this particular case the numerical results can be compared with linear stability theory and experimental measurements. In this paper a number of numerical calculations for small periodic disturbances are discussed in detail. The results are generally in fairly close agreement with linear stability theory or experimental measurements.

Effect of Geometric Parameters of New Semisubmersible Platform on Stability and Hydrodynamic Performance

2021 ◽  
Author(s):  
Tianying Wang ◽  
Yanjun Zhou ◽  
Honglin Tang ◽  
Shihua Zhang ◽  
Haiqing Tian
Keyword(s):  
Geometric Parameters ◽  
Hydrodynamic Performance ◽  
Geometrical Parameters ◽  
Main Body ◽  
Floating Bodies ◽  
Full Picture ◽  
New Type ◽  
Design Plan ◽  
The Stability ◽  
Shape Characteristics

Abstract The JCSM concept (short for Jackup Combined Semisubmersible Multifunction Platform) is a new type of semisubmersible platform presented by the first author, which overcomes the shortcomings of the available semisubmersible platforms, and combines the advantages of the traditional semisubmersible platform, the Jackup platform and the new FPSO concept - IQFP. Due to the complicated interaction between stability and hydrodynamic performance, it is necessary to explore the effect of geometrical parameters of the main body on the stability and hydrodynamic performance in order to obtain the optimal design plan of a JCSM platform. Firstly, the structure components and innovations of the JCSM were briefly reviewed in order to facilitate readers to understand its full picture. Then, six independent geometric parameters were selected by carefully studying the shape characteristics of the initial design plan of a JCSM study case. Furthermore, the stability heights and motion responses of various floating bodies of the JCSM case with different geometric parameters in wave were calculated using boundary element method based on potential flow theory. Lastly, effect of the shape parameters on stability and hydrodynamic performance of the JCSM was qualitatively evaluated. The research would shed lights on the shape design of the JCSM main body.

scholarly journals The Asymptotic Stability of the Generalized 3D Navier-Stokes Equations

2013 ◽  
Vol 2013 ◽  
pp. 1-6
Author(s):  
Wen-Juan Wang ◽  
Yan Jia
Keyword(s):  
Weak Solution ◽  
Asymptotic Stability ◽  
Stokes Equations ◽  
Navier Stokes ◽  
Navier Stokes Equations ◽  
Perturbed System ◽  
Regular Class ◽  
Stability Issue ◽  
The Stability

We study the stability issue of the generalized 3D Navier-Stokes equations. It is shown that if the weak solutionuof the Navier-Stokes equations lies in the regular class∇u∈Lp(0,∞;Bq,∞0(ℝ3)),(2α/p)+(3/q)=2α,2<q<∞,0<α<1, then every weak solutionv(x,t)of the perturbed system converges asymptotically tou(x,t)asvt-utL2→0,t→∞.

Robust Impedance Control of Manipulators Carrying a Heavy Payload

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Force Measurement ◽  
Impedance Control ◽  
Stability And Convergence ◽  
Robot Dynamics ◽  
Control Input ◽  
Heavy Load ◽  
Impedance Model ◽  
Force Moment ◽  
Loop Feedback ◽  
The Stability

A heavy payload attached to the wrist force/moment (F/M) sensor of a manipulator can cause the conventional impedance controller to fail in establishing the desired impedance due to the noncontact components of the force measurement, i.e., the inertial and gravitational forces of the payload. This paper proposes an impedance control scheme for such a manipulator to accurately shape its force-response without needing any acceleration measurement. Therefore, no wrist accelerometer or a dynamic estimator for compensating the inertial load forces is required. The impedance controller is further developed using an inner/outer loop feedback approach that not only overcomes the robot dynamics uncertainty, but also allows the specification of the target impedance model in a general form, e.g., a nonlinear model. The stability and convergence of the impedance controller are analytically investigated, and the results show that the control input remains bounded provided that the desired inertia is selected to be different from the payload inertia. Experimental results demonstrate that the proposed impedance controller is able to accurately shape the impedance of a manipulator carrying a relatively heavy load according to the desired impedance model.

scholarly journals On the Importance of the Influence of both Velocity and Aspect Ratios on the Occurrence of Bifurcation Phenomena within a Two-Sided Lid-Driven Enclosure

2015 ◽  
Vol 55 ◽  
pp. 160-172
Author(s):  
Fayçal Hammami ◽  
Nader Ben Cheikh ◽  
Brahim Ben Beya
Keyword(s):  
Stokes Equations ◽  
Numerical Study ◽  
Numerical Results ◽  
Navier Stokes ◽  
Navier Stokes Equations ◽  
Left Wall ◽  
Driven Cavity ◽  
Aspect Ratios ◽  
The Stability ◽  
The Right

This paper deals with the numerical study of bifurcations in a two-sided lid driven cavity flow. The flow is generated by moving the upper wall to the right while moving the left wall downwards. Numerical simulations are performed by solving the unsteady two dimensional Navier-Stokes equations using the finite volume method and multigrid acceleration. In this problem, the ratio of the height to the width of the cavity are ranged from H/L = 0.25 to 1.5. The code for this cavity is presented using rectangular cavity with the grids 144 × 36, 144 × 72, 144 × 104, 144 × 136, 144 × 176 and 144 × 216. Numerous comparisons with the results available in the literature are given. Very good agreements are found between current numerical results and published numerical results. Various velocity ratios ranged in 0.01≤ α ≤ 0.99 at a fixed aspect ratios (A = 0.5, 0.75, 1.25 and 1.5) were considered. It is observed that the transition to the unsteady regime follows the classical scheme of a Hopf bifurcation. The stability analysis depending on the aspect ratio, velocity ratios α and the Reynolds number when transition phenomenon occurs is considered in this paper.

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