Hydrodynamic manoeuvrability data of a flatfish type AUV

Aage, Christian; Smitt, L W

doi:10.1109/oceans.1994.364236

Cited by 10 publications

(6 citation statements)

References 1 publication

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“…Beside analytical methods, experimental ones have been developed to derive the hydrodynamic derivatives. These methods include Straight-Line Test (SLT), 10 Planar Motion Mechanism (PMM), 11 Rotating Arm Test (RAT), 12 and Coning Motion Test (CMT). 13,14 These maneuvers could be accomplished in horizontal and vertical planes, and each of which would lead to extraction of some hydrodynamic derivatives.…”

Section: Introductionmentioning

confidence: 99%

Combining CFD, ASE, and HEKF approaches to derive all of the hydrodynamic coefficients of an axisymmetric AUV

Rasekh

Mahdi

2021

Proceedings of the Institution of Mechanical Engineers, Part M:

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In this proposed method, which is based on combination of the nonlinear Hybrid Extended Kalman Filter (HEKF) observer, Analytical and Semi-Empirical (ASE) formulas, and Computational Fluid Dynamics (CFD) simulations, all of the hydrodynamic coefficients of a REMUS AUV are estimated to simulate its motions in 6 Degrees of Freedom (6-DoF). First, Using ASE formulas along with necessary static simulations of the AUV using commercial CFD code of ANSYS CFX software, some hydrodynamic derivatives like drag, lift, and fin coefficients are obtained. Then, utilizing the dynamic simulation of the Straight-Line Test (SLT), the longitudinal added mass coefficient is derived. Finally, benefiting from the HEKF code based on the parameter identification, other unknown coefficients like added mass and damping are estimated in the MATLAB software environment. In HEKF, positions and velocities of the vehicle, which are the system output vector, are obtained from a 6-DoF dynamic maneuver in CFX. It is worth mentioning that, in the present study, the remeshing algorithm in the dynamic mesh approach is used to simulate the dynamic maneuvers of the vehicle. Results, obtained from the proposed combined method, indicate a good agreement for estimated coefficients in comparison with the available analytical and experimental values.

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Section: Introductionmentioning

confidence: 99%

Combining CFD, ASE, and HEKF approaches to derive all of the hydrodynamic coefficients of an axisymmetric AUV

Rasekh

Mahdi

2021

Proceedings of the Institution of Mechanical Engineers, Part M:

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“…The flatfish type AUV has a geometric shape as shown in Figure 1, which is highly maneuverable and at the same time can carry higher payloads. This exceptionally stable shape produces low drag to the body and is wide enough to accept a variety of sensors [4].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Parameter Sensitivity Using Robust Design Techniques for a Flatfish Type Autonomous Underwater Vehicle

Mohan

Thondiyath

Sreeram³

2009

International Journal of Quality, Statistics, and Reliability

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Hydrodynamic parameters play a major role in the dynamics and control of Autonomous Underwater Vehicles (AUVs). The performance of an AUV is dependent on the parameter variations and a proper understanding of these parametric influences is essential for the design, modeling, and control of high-performance AUVs. In this paper, the sensitivity of hydrodynamic parameters on the control of a flatfish type AUV is analyzed using robust design techniques such as Taguchi's design method and statistical analysis tools such as Pareto-ANOVA. Since the pitch angle of an AUV is one of the crucial variables in the control applications, the sensitivity analysis of pitch angle variation is studied here. Eight prominent hydrodynamic coefficients are considered in the analysis. The results show that there are two critical hydrodynamic parameters, that is, hydrodynamic force and hydrodynamic pitching moment in the heave direction that influence the performance of a flatfish type AUV. A near-optimal combination of the parameters was identified and the simulation results have shown the effectiveness of the method in reducing the pitch error. These findings are significant for the design modifications as well as controller design of AUVs.

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“…The ef cient identi cation of hydrodynamic coef cients is a task which is dif cult and oftentimes expensive to carry out, with many examples of how to measure or estimate them. For example, the use of towing tanks in a marine laboratory (Aage 1994) is well-established, as is the hydrodynamic modelling of underwater vehicles in computational uid dynamics programs such as WAMIT. System identi cation techniques have found valuable application, for instance in Smallwood and Whitcomb (2003), Caccia et al (2000), A.T Morrison III (1993), Blanke (1997).…”

Section: Introductionmentioning

confidence: 99%

Identification of underwater vehicle hydrodynamic coefficients using free decay tests

Ross

Fossen

Johansen

2004

IFAC Proceedings Volumes

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A new method is proposed for the experimental determination of the longitudinal and lateral hydrodynamic coef cients of a low-speed UUV. The technique presented is a development of the classical free-decay test. A body is excited with a mechanism of springs, and system identi cation techniques are carried out on measured data, with the intention of evaluating the added mass and linear damping of the body in decoupled longitudinal and lateral models. Simulated results are presented in order to estimate the potential accuracy of these new methods.

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Hydrodynamic manoeuvrability data of a flatfish type AUV

Cited by 10 publications

References 1 publication

Combining CFD, ASE, and HEKF approaches to derive all of the hydrodynamic coefficients of an axisymmetric AUV

Combining CFD, ASE, and HEKF approaches to derive all of the hydrodynamic coefficients of an axisymmetric AUV

Analysis of Parameter Sensitivity Using Robust Design Techniques for a Flatfish Type Autonomous Underwater Vehicle

Identification of underwater vehicle hydrodynamic coefficients using free decay tests

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