scholarly journals Three-dimensional visualization of mission planning and control for the NPS autonomous underwater vehicle

1990 ◽  
Vol 15 (3) ◽  
pp. 217-221 ◽  
Author(s):  
M.J. Zyda ◽  
R.B. McGhee ◽  
S. Kwak ◽  
D.B. Nordman ◽  
R.C. Rogers ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Mission Planning ◽  
Planning And Control ◽  
And Control

scholarly journals Optimal design of nose and tail of an autonomous underwater vehicle hull to reduce drag force using numerical simulation

2019 ◽  
Vol 234 (1) ◽  
pp. 76-88 ◽  
Author(s):  
Mohammad Saghafi ◽  
Roham Lavimi
Keyword(s):  
Energy Consumption ◽  
Drag Force ◽  
Autonomous Underwater Vehicle ◽  
Turbulence Modeling ◽  
Stokes Equations ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Navier Stokes

In this research, the flow around the autonomous underwater vehicles with symmetrical bodies is numerically investigated. Increasing the drag force in autonomous underwater vehicles increases the energy consumption and decreases the duration of underwater exploration and operations. Therefore, the main objective of this research is to decrease drag force with the change in geometry to reduce energy consumption. In this study, the decreasing or increasing trends of the drag force of axisymmetric bare hulls have been studied by making alterations in the curve equations and creating the optimal geometric shapes in terms of hydrodynamics for the noses and tails of autonomous underwater vehicles. The incompressible, three-dimensional, and steady Navier–Stokes equations have been used to simulate the flow. Also, k-ε Realizable with enhanced wall treatment was used for turbulence modeling. Validation results were acceptable with respect to the 3.6% and 1.4% difference with numerical and experimental results. The results showed that all the autonomous underwater vehicle hulls designed in this study, at an attack angle of 0°, had a lower drag force than the autonomous underwater vehicle hull used for validation except geometry no. 1. In addition, nose no. 3 has been selected as the best nose according to the lowest value of stagnation pressure, and also tail no. 3 has been chosen as the best tail due to the production of the lowest vortex. Therefore, geometry no. 5 has been designed using nose and tail no. 3. The comparison made here showed that the maximum drag reduction in geometry no. 5 was equal to 26%, and therefore, it has been selected as the best bare hull in terms of hydrodynamics.

Mission Planning and Control

2017 ◽  
pp. 209-231
Author(s):  
Matko Orsag ◽  
Christopher Korpela ◽  
Paul Oh ◽  
Stjepan Bogdan
Keyword(s):  
Mission Planning ◽  
Planning And Control ◽  
And Control

Ocean outfall plume characterization using an autonomous underwater vehicle

2013 ◽  
Vol 67 (4) ◽  
pp. 925-933 ◽  
Author(s):  
Peter Rogowski ◽  
Eric Terrill ◽  
Mark Otero ◽  
Lisa Hazard ◽  
William Middleton
Keyword(s):  
Organic Matter ◽  
Dissolved Organic Matter ◽  
Observational Data ◽  
Optical Sensors ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Mission Planning ◽  
Colored Dissolved Organic Matter ◽  
Quantitative Estimates ◽  
Ocean Outfall

A monitoring mission to map and characterize the Point Loma Ocean Outfall (PLOO) wastewater plume using an Autonomous Underwater Vehicle (AUV) was performed on 3 March 2011. The mobility of an AUV provides a significant advantage in surveying discharge plumes over traditional cast-based methods, and when combined with optical and oceanographic sensors, provides a capability for both detecting plumes and assessing their mixing in the near and far-fields. Unique to this study is the measurement of Colored Dissolved Organic Matter (CDOM) in the discharge plume and its application for quantitative estimates of the plume's dilution. AUV mission planning methodologies for discharge plume sampling, plume characterization using onboard optical sensors, and comparison of observational data to model results are presented. The results suggest that even under variable oceanic conditions, properly planned missions for AUVs equipped with an optical CDOM sensor in addition to traditional oceanographic sensors, can accurately characterize and track ocean outfall plumes at higher resolutions than cast-based techniques.

Modelling of Full-Actuated Autonomous Underwater Vehicle

2014 ◽  
Vol 568-570 ◽  
pp. 917-921
Author(s):  
Hong Bin Zhang ◽  
Jian Yuan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Dimensional Space ◽  
Gravity Current ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Modelling Method ◽  
Moment Of Resistance ◽  
Dynamics Models ◽  
Three Dimensional Space ◽  
Current Resistance

The modelling method of a full-actuated autonomous underwater vehicle is investigated.The kinematics and dynamics models of the full-actuated autonomous underwater vehicle in three-dimensional space are constructed. Gravity and moment of gravity,current resistance and moment of resistance, buoyancy and moment of buoyancy and thrust and moment of thrust are constructed, respectively. Experiment results show the effectiveness of the proposed modelling method.

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