Justification for the Body Construction Selection of the Unmanned Uninhabited Underwater Apparatus

ABSTRACT: The paper explores the possibility of creating an underwater apparatus in the form of a body of rotation. The form of the device will allow to effectively examine the found underwater objects, the bottom topography, measurement of other parameters of the underwater environment or objects. The devices of a different streamlined body form are considered. The apparatus in the form of a rotation body is proposed. The geometric shape of the proposed apparatus, the system of motion and control are investigated. Methods for calculating the motion parameters, methods for the vehicle positioning in the flow and the underwater vehicle movement in the vertical plane are proposed. The study confirms the ability of the underwater vehicle to move under water in a horizontal and vertical directions. The study confirms that the device possess stability at rectilinear motion, good turning ability and at the same time it is able to position itself during the flow.

KEYWORDS: Hydrodynamics, Unmanned Underwater Vehicle (UUV), Autonomous Underwater Vessel (AUV), Unmanned Uninhabited Underwater Apparatus, Underwater Object, Body Construction, Underwater Apparatus, Motion Parameters

REFERENCES

Unmanned underwater vehicles. Classification. GOST R 56960 – 2016, Moscow: Standardinform, 2016

McFarland, C. J., & Whitcomb, L. L. (2014, May). Experimental evaluation of adaptive model-based control for underwater vehicles in the presence of unmodeled actuator dynamics. In Robotics and Automation (ICRA), 2014 IEEE International Conference on (pp. 2893-2900). IEEE. DOI: 10.1109/ICRA.2014.6907275 - doi:10.1109/ICRA.2014.6907275

Chung, H., Cao, S., Philen, M., Beran, P. S., & Wang, K. G. (2018). CFD-CSD coupled analysis of underwater propulsion using a biomimetic fin-and-joint system. Computers & Fluids. (172), pp. 54–66 doi:10.1016/j.compfluid.2018.06.014. - doi:10.1016/j.compfluid.2018.06.014

Gerigk M.K., Wójtowicz S.: An Integrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 9, No. 4, doi:10.12716/1001.09.04.18, pp. 591-596, 2015

Bassin A.M., Anfimov V.N. Vessel hydrodynamics L.: River transport, 1961

Alam, K., Ray, T., & Anavatti, S. G. (2014). Design and construction of an autonomous underwater vehicle. Neurocomputing, 142, 16-29. doi:10.1016/j.neucom.2013.12.055 - doi:10.1016/j.neucom.2013.12.055

Liu, Y., Fang, P., Bian, D., Zhang, H., & Wang, S. (2014). Fuzzy comprehensive evaluation for the motion performance of autonomous underwater vehicles. Ocean Engineering, 88, 568-577. doi: 10.1016/j.oceaneng.2014.03.013 - doi:10.1016/j.oceaneng.2014.03.013

Wang, X., Song, B., Wang, P., & Sun, C. (2018). Hydrofoil optimization of underwater glider using Free-Form Deformation and surrogate-based optimization. International Journal of Naval Architecture and Ocean Engineering, 6, 730-740, doi:10.1016/j.ijnaoe.2017.12.005 - doi:10.1016/j.ijnaoe.2017.12.005

Javaid, M. Y., Ovinis, M., Hashim, F. B., Maimun, A., Ahmed, Y. M., & Ullah, B. (2017). Effect of wing form on the hydrodynamic characteristics and dynamic stability of an underwater glider. International Journal of Naval Architecture and Ocean Engineering, 9(4), 382-389. doi.:10.1016/j.ijnaoe.2016.09.010 - doi:10.1016/j.ijnaoe.2016.09.010

Yang, Y., Liu, Y., Wang, Y., Zhang, H., & Zhang, L. (2017). Dynamic modeling and motion control strategy for deep-sea hybrid-driven underwater gliders considering hull deformation and seawater density variation. Ocean Engineering, 143, 66-78. doi:10.1016/j.oceaneng.2017.07.047 - doi:10.1016/j.oceaneng.2017.07.047

Ridao, P., Carreras, M., Ribas, D., Sanz, P. J., & Oliver, G. (2015). Intervention AUVs: the next challenge. Annual Reviews in Control, 40, 227-241. Doi:10.1016/j.arcontrol.2015.09.015 - doi:10.1016/j.arcontrol.2015.09.015

Sun, C., Song, B., & Wang, P. (2015). Parametric geometric model and shape optimization of an underwater glider with blended-wing-body. International Journal of Naval Architecture and Ocean Engineering, 7(6), 995-1006. DOI: 10.1515/ijnaoe-2015-0069 - doi:10.1515/ijnaoe-2015-0069

He, Y., Song, B., & Dong, H. (2018). Multi-objective optimization design for the multi-bubble pressure cabin in BWB underwater glider. International Journal of Naval Architecture and Ocean Engineering, 10(4), 439-449. Doi: 10.1016/j.ijnaoe.2017.08.007 - doi:10.1016/j.ijnaoe.2017.08.007

Zhang, F., Zhang, F., & Tan, X. (2012, October). Steady spiraling motion of gliding robotic fish. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on (pp. 1754-1759). IEEE. doi:10.1109/iros.2012.6385860 - doi:10.1109/IROS.2012.6385860

Zhang, F., Thon, J., Thon, C., & Tan, X. (2014). Miniature underwater glider: Design and experimental results. IEEE/ASME Transactions on Mechatronics, 19(1), 394-399. doi:10.1109/tmech.2013.2279033 - doi:10.1109/TMECH.2013.2279033

Yu, P., Wang, T., Zhou, H., & Shen, C. (2018). Dynamic modeling and three-dimensional motion simulation of a disk type underwater glider. International Journal of Naval Architecture and Ocean Engineering, 10(3), 318-328. Doi:10.1016/j.ijnaoe.2017.08.002 - doi:10.1016/j.ijnaoe.2017.08.002

L. G. Loitsansky, A. I. Lurie, Theoretical mechanics course, Vol. II

Citation note:

Lebedeva M.P., Lebedev A.O., Butsanets A.A.: Justification for the Body Construction Selection of the Unmanned Uninhabited Underwater Apparatus. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 12, No. 4, doi:10.12716/1001.12.04.07, pp. 693-697, 2018

BibTeX EndNote

File downloaded 317 times