scholarly journals Study on the Motion Stability of the Autonomous Underwater Helicopter

2022 ◽  
Vol 10 (1) ◽  
pp. 60
Author(s):  
Yuan Lin ◽  
Jin Guo ◽  
Haonan Li ◽  
Hai Zhu ◽  
Haocai Huang ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Angle Of Attack ◽  
Vertical Movement ◽  
Plane Motion ◽  
Hydrodynamic Performance ◽  
Scale Model ◽  
Motion Stability ◽  
Movement Stability ◽  
Stability Indexes ◽  
Drag Ratio

The hydrodynamic performance of a novel hovering autonomous underwater vehicle, the autonomous underwater helicopter (AUH), with an original disk-shaped hull (HG1) and an improved fore–aft asymmetric hull (HG3), is investigated by means of computational fluid dynamics with the adoption of overlapping mesh method. The hydrodynamic performance of the two hull shapes in surge motion with variation of the angle of attack is compared. The results show that HG3 has less resistance and higher motion stability compared to HG1. With the angle of attack reaching 10 degrees, both HG1 and HG3 achieve the maximum lift-to-drag ratio, which is higher for HG3 compared to HG1. Furthermore, based on the numerical simulation of the plane motion mechanism test (PMM) and according to Routh’s stability criterion, the horizontal movement and vertical movement stability indexes of HG1 and HG3 (GHHG1=1.0, GVHG1=49.7, GHHG2=1.0, GVHG3=2.1) are obtained, which further show that the AUH has better vertical movement stability than the torpedo-shaped AUV. Furthermore, the scale model tail velocity experiment indirectly shows that HG3 has better hydrodynamic performance than HG1.

scholarly journals Numerical Investigation on Hydrodynamic Performance of a Portable AUV

2021 ◽  
Vol 9 (8) ◽  
pp. 812
Author(s):  
Lin Hong ◽  
Renjie Fang ◽  
Xiaotian Cai ◽  
Xin Wang
Keyword(s):  
Numerical Investigation ◽  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Performance ◽  
Plane Motion ◽  
Hydrodynamic Performance ◽  
Wave Forces ◽  
Modeling And Control ◽  
Experiment Platform ◽  
Cfd Method

This paper conducts a numerical investigation on the hydrodynamic performance of a portable autonomous underwater vehicle (AUV). The portable AUV is designed to cruise and perform some tasks autonomously in the underwater world. However, its dynamic performance is strongly affected by hydrodynamic effects. Therefore, it is crucial to investigate the hydrodynamic performance of the portable AUV for its accurate dynamic modeling and control. In this work, based on the designed portable AUV, a comprehensive hydrodynamic performance investigation was conducted by adopting the computational fluid dynamics (CFD) method. Firstly, the mechanical structure of the portable AUV was briefly introduced, and the dynamic model of the AUV, including the hydrodynamic term, was established. Then, the unknown hydrodynamic coefficients in the dynamic model were estimated through the towing experiment and the plane-motion-mechanism (PMM) experiment simulation. In addition, considering that the portable AUV was affected by wave forces when cruising near the water surface, the influence of surface waves on the hydrodynamic performance of the AUV under different wave conditions and submerged depths was analyzed. Finally, the effectiveness of our method was verified by experiments on the standard models, and a physical experiment platform was built in this work to facilitate hydrodynamic performance investigations of some portable small-size AUVs.

scholarly journals Parametric Design and Optimization of the Profile of Autonomous Underwater Helicopter Based on NURBS

2021 ◽  
Vol 9 (6) ◽  
pp. 668
Author(s):  
Xinyu An ◽  
Ying Chen ◽  
Haocai Huang
Keyword(s):  
Optimization Design ◽  
Cfd Simulation ◽  
Autonomous Underwater Vehicle ◽  
Optimization Procedure ◽  
Parametric Representation ◽  
Hydrodynamic Performance ◽  
Optimized Design ◽  
Parametric Curve ◽  
Design Variables ◽  
Drag Ratio

Autonomous Underwater Helicopter (AUH) is a disk-shaped Autonomous Underwater Vehicle (AUV), and it has comparative advantage of near-bottom hovering and whole-direction turn-around ability over the traditional slender AUV. An optimization design of its irregular geometric profile is essential to improve its hydrodynamic performance. A parametric representation of its profile is proposed in this paper using Non-Uniform Rational B-spline (NURBS) curve. The parametric representation of AUH profile is described with two decision variables and several data points. Based on this parametric curve, Computational Fluid Dynamics (CFD) simulation is carried out to evaluate its hydrodynamic performance with various parameters. A predication model is established over variables’ design space using Kriging surrogate model with CFD simulation results and a Genetic Algorithm (GA) procedure is conducted to find optimal design variables, which can produce an optimum lift-drag ratio. CFD verification results confirm that AUH profile with optimized design variables can increase its lift-drag ratio by 2.11 times compared with that of non-optimized ones. It demonstrates that the parametric representation and optimization procedure of AUH profile proposed in this paper is feasible, and it has a great potential in improving AUH’s performance.

scholarly journals Comparative investigations in the effect of angle of attack profile on hydrodynamic performance of bio-inspired foil, (corrected)

2013 ◽  
Vol 10 (2) ◽  
pp. 99-108 ◽  
Author(s):  
J. A. Esfahani ◽  
E. Barati ◽  
Hamid Reza Karbasian
Keyword(s):  
Angle Of Attack ◽  
Underwater Vehicles ◽  
Hydrodynamic Performance ◽  
Profile Function ◽  
Flapping Foil ◽  
Propulsive Performance ◽  
Wide Range ◽  
Effective Angle ◽  
Thrust Production ◽  
Optimum Profile

In flapping underwater vehicles the propulsive performance of harmonically sinusoidal heaving and pitching foil will be degraded by some awkward changes in effective angle of attack profile, as the Strouhal number increases. This paper surveys different angle of attack profiles (Sinusoidal, Square, Sawtooth and Cosine) and considers their thrust production ability. In the wide range of Strouhal numbers, thrust production of Square profile is considerable but it has a discontinuity in heave velocity profile, in which an infinite acceleration exists. This problem poses a significant defect in control of flapping foil. A novel profile function is proposed to omit sharp changes in heave velocity and acceleration. Furthermore, an optimum profile is found for different Strouhal numbers with respect to Square angle of attack profile.DOI: http://dx.doi.org/10.3329/jname.v10i2.14229

scholarly journals Mechanism Design and Experiment of a Bionic Turtle Dredging Robot

Machines ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 86
Author(s):  
Tao Wang ◽  
Zhuo Wang ◽  
Bo Zhang
Keyword(s):  
Mechanism Design ◽  
Control Function ◽  
The Body ◽  
Fish Ponds ◽  
Motion Stability ◽  
Experimental Prototype ◽  
Underwater Environment ◽  
Movement Characteristics ◽  
Movement Sequence ◽  
Movement Stability

In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can adapt to the complex underwater environment. The article uses the transformation matrix to analyze the kinematics of the dredging robot, determines the movement sequence of the outriggers according to the principle of stability, and analyzes the movement characteristics of the three gait modes. Then, we combined the control function of the foot trajectory with the experimental prototype based on the bionic tortoise mechanism to carry out a walking experiment. During the experiment, the motion stability is good. Additionally, the changes in the position, the posture of the outriggers, and the body prove that the movement stability of the dredging robot using coordinated gait, mixed gait, and intermittent gait has increased sequentially.

The stability analysis using Lyapunov exponents for high-DOF nonlinear vehicle plane motion

2021 ◽  
pp. 095440702110433
Author(s):  
Shuming Shi ◽  
Fanyu Meng ◽  
Minghui Bai ◽  
Nan Lin
Keyword(s):  
Stability Analysis ◽  
Quantitative Analysis ◽  
Lyapunov Exponents ◽  
Plane Motion ◽  
Vehicle Model ◽  
Motion Stability ◽  
Motion System ◽  
Nonlinear Vehicle Model ◽  
The Stability ◽  
Different Characteristics

The Lyapunov exponents method is an excellent approach for analyzing the vehicle plane motion stability, and the researchers demonstrated the effectiveness under 2-DOF vehicle model. However, whether the Lyapunov exponents approach can effectively reveal the characteristics of high-DOF nonlinear vehicle model is the key problem at present. In this paper, the Lyapunov exponents is applied to quantitatively analyze the stability of the nonlinear three and five degree of freedom vehicle plane motion system. The different characteristics between 2-DOF and high-DOF model are revealed and explained by using Lyapunov exponents. It illustrates the feasibility of using Lyapunov exponents to analyze the stability of high-DOF vehicle models, which supplements and perfects the existing quantitative analysis conclusion.

scholarly journals Hydrodynamics of gliding penguin flipper suggests the adjustment of sweepback with swimming speeds

2021 ◽  
Author(s):  
Masateru Maeda ◽  
Natsuki Harada ◽  
Hiroto Tanaka
Keyword(s):  
Large Eddy Simulation ◽  
Cfd Simulation ◽  
Lift Coefficient ◽  
Angle Of Attack ◽  
Force Balance ◽  
Hydrodynamic Performance ◽  
Vertical Force ◽  
Sweep Angle ◽  
Eddy Simulation ◽  
Large Eddy

Hydrodynamic performance of a gliding penguin flipper (wing) considering the backward sweep was estimated with computational fluid dynamics (CFD) simulation. A flipper of a gentoo penguin (Pygoscelis papua) was 3D scanned, smoothed, and a numerical fluid mesh was generated. For accurate yet resource-saving computation, an embedded large-eddy simulation (ELES) methods was employed, where the flow near the flipper was solved with large-eddy simulation (LES) and flow far away from the flipper was solved with Reynolds-averaged Navier-Stokes (RANS). The relative flow speed was fixed at 2 m s-1, close to the typical foraging speed for the penguin species. The sweep angle was set to be 0°, 30°, and 60°, while the angle of attack was varied between -40° and 40°, both are within the realistic ranges in the wing kinematics measurement of penguins in an aquarium. It was revealed that a higher sweep angle reduces the lift slope, but the lift coefficient is unchanged at a high angle of attack. Drag coefficient was reduced across the angles of attack with increasing the sweep angles. The drag polars suggest the sweep angle may be adjusted with the change in swimming speed and anhedral (negative dihedral) angle to minimise drag while maintaining the vertical force balance to counteract the positive buoyancy. This will effectively expand the swimming envelope of the gliding penguin, similar to a flying counterpart such as swift.

scholarly journals Aerodynamic and Vibration Characteristics of the Micro-Octocopter at Low Reynolds Number

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Xiaohua Zou ◽  
Mingsheng Ling ◽  
Wenzheng Zhai
Keyword(s):  
Reynolds Number ◽  
Load Capacity ◽  
Lift Coefficient ◽  
Angle Of Attack ◽  
Aerodynamic Characteristics ◽  
Vibration Characteristics ◽  
Low Reynolds ◽  
Vibration Performance ◽  
Drag Ratio ◽  
Lift To Drag Ratio

With the development of flight technology, the need for stable aerodynamic and vibration performance of the aircraft in the civil and military fields has gradually increased. In this case, the requirements for aerodynamic and vibration characteristics of the aircraft have also been strengthened. The existing four-rotor aircraft carries limited airborne equipment and payload, while the current eight-rotor aircraft adopts a plane layout. The size of the propeller is generally fixed, including the load capacity. The upper and lower tower layout analyzed in this paper can effectively solve the problems of insufficient four-axis load and unstable aerodynamic and vibration performance of the existing eight-axis aircraft. This paper takes the miniature octorotor as the research object and studies the aerodynamic characteristics of the miniature octorotor at different low Reynolds numbers, different air pressures and thicknesses, and the lift coefficient and lift-to-drag ratio, as well as the vibration under different elastic moduli and air pressure characteristics. The research algorithm adopted in this paper is the numerical method of fluid-solid cohesion and the control equation of flow field analysis. The research results show that, with the increase in the Reynolds number within a certain range, the aerodynamic characteristics of the miniature octorotor gradually become better. When the elastic modulus is 2.5 E, the aircraft’s specific performance is that the lift increases, the critical angle of attack increases, the drag decreases, the lift-to-drag ratio increases significantly, and the angle of attack decreases. However, the transition position of the flow around the airfoil surface is getting closer to the leading edge, and its state is more likely to transition from laminar flow to turbulent flow. When the unidirectional carbon fiber-reinforced thickness is 0.2 mm and the thin arc-shaped airfoil with the convex structure has a uniform thickness of 2.5% and a uniform curvature of 4.5%, the aerodynamic and vibration characteristics of the octorotor aircraft are most beneficial to flight.

Numerical Simulation Study on the Recovery Process of Autonomous Underwater Vehicle

2021 ◽  
Author(s):  
Weigang Huang ◽  
Donglei Zhang ◽  
Jiawei Yu ◽  
Tao He ◽  
Xianzhou Wang
Keyword(s):  
Numerical Simulation ◽  
Flow Field ◽  
Autonomous Underwater Vehicle ◽  
Flow Characteristics ◽  
Recovery Process ◽  
Underwater Vehicle ◽  
Hydrodynamic Performance ◽  
Time Step ◽  
Convergence Test ◽  
Motion Paths

Abstract AUV (Autonomous Underwater Vehicle) recovery is considerably influenced by the nearby flow field and simulations of AUV in different motion paths in the wake of a submarine with a propeller are presented in this paper. A commercial CFD solver STAR CCM+ has been used to research the motion and flow characteristics of AUV, which using the advanced computational continuum mechanics algorithms. The DARPA (Defense Advanced Research Projects Agency) SUBOFF Submarine (L1 = 4.356m) propelled with INSEAN (Italian Ship Model Basin) E1619 propeller is used in this study, and the self-propulsion characteristics of the propeller at an incoming flow velocity of 2.75m/s are obtained through numerical simulation and results are compared with the available experimental data to prove the accuracy of the chosen investigation methodology. A grid/time-step convergence test is performed for verification study. AUV (L2 = 0.4356m) is a smaller-scale SUBOFF without a sail, which approaches the submarine in different motion paths in the submarine wake at a relative speed combined with the dynamic overlapping grid technology. The hydrodynamic performance of the AUV when approaching the submarine and the velocity distribution of the surrounding flow field are analyzed, which provides a useful reference for underwater recovery of the AUV.

Dissipation of energy analysis approach for vehicle plane motion stability

2021 ◽  
pp. 1-24
Author(s):  
Fanyu Meng ◽  
Shuming Shi ◽  
Minghui Bai ◽  
Boshi Zhang ◽  
Yunxia Li ◽  
...  
Keyword(s):  
Energy Analysis ◽  
Plane Motion ◽  
Analysis Approach ◽  
Motion Stability ◽  
Dissipation Of Energy

Scale Model Testing of a Commercial Rim-Driven Propulsor Pod

2003 ◽  
Vol 19 (02) ◽  
pp. 121-130 ◽  
Author(s):  
Michelle Lea ◽  
Donald Thompson ◽  
BillVan Blarcom ◽  
Jon Eaton ◽  
Juergen Friesch ◽  
...  
Keyword(s):  
Rotor Blades ◽  
Hydrodynamic Performance ◽  
Scale Model ◽  
Cruise Ships ◽  
Podded Propulsor ◽  
Ship Owner ◽  
Marine Industry ◽  
Blade Row ◽  
Improved Performance ◽  
Ship Performance

Podded propulsion is gaining more widespread use in the marine industry and is prevalent in newer cruise ships in particular. This propulsion system can provide many advantages to the ship owner that include increased propulsion efficiency, arrangement flexibility, payload, and harbor maneuverability. A new, unique podded propulsor concept is being developed that allows optimization of each element of the system. The concept comprises a ducted, multiple-blade row propulsor with a permanent magnet, radial field motor rotor mounted on the tips of the propulsor rotor blades, and the motor stator mounted within the duct of the propulsor. This concept, designated a commercial rim-driven propulsor pod (CRDP), when compared to a conventional hub-driven pod (HDP), offers improved performance in a number of areas, including equal or improved efficiency, cavitation, and hull unsteady pressures. The combination of these CRDP performance parameters allows the ship designer much greater flexibility to provide improved ship performance as compared to that of an HDP. A CRDP is being developed to power a panamax-size cruise vessel. The paper addresses the hydrodynamic performance of that CRDP design demonstrated at 1/25th scale as tested at the Hamburg Ship Model Basin, Hamburg Germany (HSVA).

Sign in / Sign up

Export Citation Format

Share Document