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1 INTRODUCTION
Thelastdecadehasbroughtarapiddevelopmentof
the maritime unmanned surface (USV‐Unmanned
SurfaceVehicle)andunderwater(UUV‐Unmanned
Underwater Vehicle) vehicles for the different
missions to perform. Some of these vehicles are
purely unmanned vehicles with the different
solutions regarding the steering and energy supply.
Some of them seem to be a partially autonomous
(AUV‐Autonomous Underwater Vehicle). Between
themfirstfullyautonomousmayappear.
ConcerningtheUSV,UUVandAUVvehiclesthey
may perform the typical patrol, reconnaissance or
combat missions. From the navy point of view the
vehicles may be equipped with the
sophisticated
reconnaissance electromagnetic, hydro‐acoustic and
IT‐based equipmentor conventional arms. The most
advanced vehicles may be equipped with the small
fastunderwatermissiles(Gerigk,2014).
The aim of the is to work out a AUV‐Stealth
vehicle model which may possess a few features
enabling to obtain a stealth
‐type performance of the
AUV‐Stealthvehicle.Betweenthemareasfollows:
limitedboundarylayerandwake,
limitedemissionofthenoiseandvibration,
others.
Althoughthereisalotofinvestigationsinfrontof
the research teams it may be anticipated that the
futureAUV‐Stealth
vehicleswillhavemoreadvanced
hull forms, will be equipped with the innovative
energy supply sources and propulsion systems, will
have the advanced navigation, communication and
steering systems, may be covered using the
innovative covers guarantying some kind of
invisibilityinthewater.
Silent, invisible, intelligent and autonomous
AUV‐Stealth.
Despite the above mentioned features
themostimportantfortheAUV‐Stealthvehiclesisto
design and manufacture them using the most
Modeling of Performance of a AUV Vehicle Towards
Limiting the Hydro-acoustic Field
M.K.Gerigk
GdańskUniversityofTechnology,Gdańsk,Poland
ABSTRACT:SomeresultsofresearchdevotedtothemodelingofaAUV‐Stealthvehicleperformancetowards
limiting its hydro‐acoustic field are presented in the paper. At the beginning the AUV‐Stealth autonomous
underwater vehicle concept is described. Then the method of research is introduced. Next the key design
driversoftheAUV‐Stealthvehiclearepresented.BetweenthemaretheAUV‐Stealthhullform,arrangementof
internal spaces, materials, hull covers, energy supply and propulsion system, etc. Some results of the
hydrodynamicandstealthcharacteristicsoftheAUV‐Stealthvehiclearebrieflydescribed.Itispresentedinthe
paper that the hull form, construction materia ls including the covers may affect the AUV‐Stealth vehicle
boundarylayerandwake.ThismaycreatesomeproblemsofidentificationoftheAUV‐Stealthvehicleusinga
sonarorhydrophone.Thefinalconclusionsarepresented.
http://www.transnav.eu
the International Journal
on Marine Navigation
and Safety of Sea Transportation
Volume 12
Number 4
December 2018
DOI:10.12716/1001.12.04.06
688
advancedstealthtechnologies.ʺStealthʺdoesnotonly
meantoavoidand/orabsorbthedataradiationbythe
unique hull form and/or hull skin cover.ʺStealthʺ
concerns the propulsion system as well. The AUV‐
Stealth vehicles should be equipped with the silent
electric engines and jet propellers. The noise and
vibrations
generatedbyaAUV‐Stealthvehicleshould
onthe lowest possible level.The construction ofthe
AUV‐Stealth vehicle should protect the emission of
heat from the systems installed onboard. Moving
under the water surface the AUV‐Stealth vehicle
shouldgenerateasmallvalueofboundarylayerand
waketo
limititsownacousticsignal.Thisiswhythe
innovative hull skin covers are of great importance.
Despite of the mission the AUV‐Stealth vehicles
should be equipped with the coded navigation,
communication and steering subsystems to operate
thevehiclesabovethewatersurface(winginground
vehicles), on the water
surface and under the water
surface. The vehicles should be equipped with the
energysupplysubsystem(batteries)toperformupto
severalhoursmissionswiththepossibilitytoupload
the batters using the submerged energy loading
stands. According to the tasks some AUV‐Stealth
vehicles should be equipped with the
autonomous
intelligent (AI‐Artificial Intelligence) steering and
vehicle positioning subsystems enabling to use the
data obtained from the vehicle sensor subsystems.
The most advanced AUV‐Stealth vehicles would be
thosewhich couldindependently communicate with
theothervehicles(USV,UUV,ASV,AUV) andmake
decisionsontheirown.
Thepresentedconcept
oftheAUV‐Stealthvehicle
isafuturevisionofanadvancedAUVvehicleforthe
oceanengineeringmissionsaswell.
2 AUV‐STEALTHVEHICLECONCEPT
The primary aim of the research is to work out a
functionalmodelofthe stealthAUVvehicle moving
inthedataoperationalconditions.
The novel solutions have been applied regarding
the hull form, arrangement of internal spaces,
materials,hullcovers,energysupplyandpropulsion
system. The hull form is a hybrid stealth hull form.
The arrangement of internal spaces is designed
accordingtothefunctionalrequirementsandisvery
muchaffectedbythesub
‐systemsinstalledonboard.
Themajorsub‐systemsofthestealthAUVvehicle
areasfollows(Gerigk,2015;Gerigk,2016):
ballastsub‐system,
energysupplysub‐system(batteries),
water‐jetpropulsionsub‐system,
T‐foilstabilizingsub‐system,
steering, navigation and communication sub‐
system,
dedicated
sub‐system.
The main parameters of the AUV‐Stealth vehicle
areasfollows(Gerigk,2015;Gerigk,2016):
overalllengthL‐isequalto2.2meters,
operational breadth B‐is equal to 1.1 meters
withouttheappendages,
heightH‐isequalto0.35metersappendages,
massisequal
tofrom0.16to0.32tons,depending
onthemassofequipmentinstalledonboard,
averagedspeedduringtheunderwatermissionfor
thesubmergedconditions(3meters)v
uw‐isequal
to1.0‐2.0meterspersecond.
The general visualizations of the hull form and
arrangement of external spaces of the AUV‐Stealth
vehiclearepresentedinFigure1.
Figure1. The general visualizations of the hull form and
arrangementofexternalspacesofthestealthAUVvehicle
(Gerigk,2014‐2018).
3 THERESEARCHMETHOD
TheaimoftheistoworkoutaAUV‐Stealthvehicle
modelwhichmaypossessafewfeaturesenablingto
obtainastealth‐typeperformanceoftheAUV‐Stealth
vehicle.Betweenthemareasfollows:
limitedboundarylayerandwake,
limitedemissionofthe
noiseandvibration,
others.
ʺStealthʺ means to limit the probability to detect
the AUV‐Stealth vehicle to the lowest possible level
using the well and hardly known (advanced,
innovative)methodsandmeansofreconnaissance.
The current investigations on the stealth
technologies towards their application onboard the
AUV‐Stealth vehicles
are associated with the
followingproblems:
sizeandhullformoftheAUV‐Stealthvehicle,
skincoversoftheAUV‐Stealthhull,
minimizingthenoiseandvibrationsgeneratedby
theonboardsub‐systemsandAUV‐Stealthvehicle
itself(flow:boundarylayer,wake),
minimizingtheheatemissions,
minimizing the emission of electromagnetic and
hydro‐acousticsignals,
avoiding and/or absorbing the outside
(electromagnetic,hydro‐acoustic)radiation,
689
maximizing the invisibility of the AUV‐Stealth
vehicle.
The research method for modeling the
hydrodynamic and stealth both the features and
characteristicsoftheAUV‐Stealthvehicleisakindof
performance‐oriented risk‐based method which
enables toassess the abovementioned at the design
stage and in operation (Gerigk, 2010). The method
takes into account the influence
of design and
operational factors following from different sources.
The holistic approach and system approach to
performance and risk assessmenthave been
applied.
The physical models and computer simulation
techniques have been applied to obtain the AUV‐
Stealth vehicle hydrodynamic and stealth
characteristics and features. At the research and
design
stage, the assessment of AUV‐Stealth vehicle
performance enables to identify the sequence of
events for the operational conditions very close to
reality (Gerigk, 2015; Gerigk, 2016: Gerigk,
Wójtowicz, Zawistowski, 2015; Gerigk, Wójtowicz,
2015).
Theriskassessmentisbasedonapplicationofthe
matrix type risk model which is prepared in
such a
waythatitenablestoconsideralmostallthepossible
scenariosofeventswhichmayoccurinoperation.The
criteria is to achieve an adequate level of risk using
the risk acceptance criteria, risk matrix, (Gerigk,
2010).Providingasufficientlevelofsafetybasedon
theriskassessment
isthemainobjective.Safetyisthe
design objective between the other objectives. The
measure of safety of the AUV‐Stealth vehicle is the
riskortherisklevel.
UAMV
vehicle
Impact of
environment
Hull form
Arrangement of
internal spaces
Loadin
g
conditions
Start
Design requirements, limitations, criteria
Operational requirements, limitations, criteria
Risk acceptance criteria
Safety criteria
Cost and benefit limitations
Definition of UAMV vehicle
and environment
Hazard identification
Identification of accident scenarios
Estimation of the
probability of a hazard
occurence P
i
Assessment of the UAMV
vehicle performance:
- assessment of the vehicle
mass and position of the
centre of gravity
- assessment of possible
loading conditions including
the ballasting
- estimation of the vehicle
floatability and stability
- prediction of the vehicle
resistance and propulsion
analysis
- analysis of the vehicle
manoeuvrability
- estimation of sea loads on
the vehicle and seakeeping
- vehicle operability
Risk estimation
R
i
= P
i
* C
i
Risk assessment:
Is the risk tolerable ?
Ranking the
hazards, Risk
acceptance
criteria
N
o Yes
Risk
control
options:
-prevention
-reduction
-mitigation
Modification of desig and/or
operational procedure
Choice of optimal design and/or
operational procedure
System of making the decisions on the UAMV
vehicle
p
erformance and safet
y
End
Estimation of
occurence of the data
consequences C
i
Are costs too hi
g
h ?
N
oYes
Analysis of costs and benefits
Risk models
Accident categories
Waves
Water de
p
th
Loss of
stability
Loss of
energy
supply
Hull dama
g
e
,
floodin
g
P
i
, C
i
, R
i
– concerns the
iterations in respect to all
the events and accident
scenarios considered
Hazard assessment
Figure3. A Structure of the method for assessment of the
UAMV vehicle performance and risk assessment (Gerigk,
2014‐2016).
Themethoditselfisbasedonthe following main
stepspresentedinthepapersbyGerigk(Gerigk,2016;
Gerigk, 2017): setting the requirements (criteria,
limitations, safety objectives), defining the AUV‐
Stealth vehicle, defining the operational conditions,
identifyingthehazardsandeventscenarios,assessing
theAUV‐Stealth vehicleperformance, estimatingthe
risk,
assessing the risk, managing the risk, selecting
thedesignthatmeettherequirements,optimizingthe
design,makingthe final decisionson design andon
safety.
The structure of the method which combines the
typical design/operational procedures with the risk
assessment techniques is presented in Figure 3
(AUVSI/ONR, 2007; Abramowicz‐Gerigk,
Burciu,
2014; Cwojdziński, Gerigk, 2014; Dudziak, 2008;
Faltinsen, 1990; Faltinsen, 2005;Gerigk, 2010;
Gerigk,2015;Lamb,2003;Szulist,Gerigk,2015).
4 DESIGNDRIVERS
Theresearchanddesignmethodologyisbasedonthe
following approach: application of key (advanced)
technologies may give an innovative solution
concerningtheAUV‐Stealthvehicle.
The key technologies which play the main role
during the research and design of the AUV‐Stealth
vehicleareasfollows:
technologyofautonomoussystems;
technologyofsensorsandeffectors;
technologyofmaterialsincludingtheAImaterials,
nano‐materials;
technologyofenergysupplysources;
technologyofinnovativepropulsionsystems;
IT technologies including the communication,
navigationandsteering;
stealthtechnologies;
cosmicandsatelitetechnologiesand
others.
The innovative solutions may be as follows:
innovativeplatformsandsingle‐,double‐andtriple‐
mode vehicles. Between them are the AUV‐Stealth
vehicleswhicharethedouble‐modevehicles.
During the research the following research and
designkey‐drivershavebeenadopted:
1 hull form‐arrangement of internal spaces,
distributionofmasses,payload;
2 energysupplysystem;
3 propulsionsystem;
4 steering,communication,navigationsystem;
5 sensorsandeffectors;
6 dedicatedsystem.
5 AUV‐STEALTHHYDRODYNAMICAND
STEALTHCHARACTERISTICS
The ma in aim of research is to work out a AUV‐
Stealth vehicle model which may possess a few
featuresenablingtoobtainastealth‐typeperformance
of the AUV‐Stealth vehicle. Between these features
are:
limitedboundarylayerandwake,
limitedemissionofthenoiseand
vibration,
690
others.
The stealth technology (def.): minimizi ng the
probability of detection of the S ‐AUV vehicle using
thewellknownand„unknown”means(technologies,
devices,etc.
Theʺstelthʺfunctionisanticipatedasfollows:
E=E[p
1,p2,...,pn,f1(x1,x2,...,xm1),
f
2(x1,x2,...,xm2), (1)
.......
f
k(x1,x2,...,xmt)]
where:
k–No.ofastealthtechnologyapplied;
m
1, m2, m3, m4, m5, m6, mt – No. of independent
(dependent) characteristics for the data stealth
technology;
p–parameters;
x‐variables;
f–astealthcharacteristics(function,polynomial,etc).
The physical fields for the research have been
anticipatedasfollows:
F1‐mainparticulars,hullform(gemetry);
F2‐skincovers(nano‐surface)
–materials;
F3‐noiseandvibrations;
F4‐elektromagnetic,magnetic;
F5‐temperature(heating);
F6‐boundarylayer+wake;
F7‐visibilty.
The first step during the research was to check
how much a hull skin cover may affect the AUV‐
Stealthvehicleflow
includingtheboundarylayerand
wake.Duringthecomputersimulationoftheflowthe
meshconsistedof3275000elementswasused.The
numerical domain had the size (Kardaś, Tiutiurski,
Gerigk,2016):
5metersx1.5metersx1.2meters (2)
anditispresentedinFigure4.
Figure4. A visualization of the numerical domain for the
computer simulation of the impact of different hull skin
coversontheflow(boundarylayerandwake)oftheAUV‐
Stealthvehicle.
Thewaterflowvelocitywasanticipatedtobefrom
0.5 up to 2.5 meters per second with the step 0.5
meterspersecond.
During the simulation the hull skin cover was
generatedbytheskinroughnessasfollows:
Ra80‐asanormalsteelplatesurface,
Ra1.25‐as
aslightlypolishedsteelplatesurface,
Ra0.01‐asapolishedsteelplatesurface,
Ra0.0025‐extremelypolished steelplate surface
(calledduringtheresearchasanano‐surface).
Theflowwasestimatedforthedistance0.5meters,
1.0meters,1.5metersand2.0metersbehindtheAUV‐
Stealth vehicle. An example of results of the flow
estimation for the data skin roughness and velocity
anticipated are presented in Figure 5 (Kardaś,
Tiutiurski,Gerigk,2016).
Figure5.Theexampleresultsoftheimpactofdifferenthull
skin covers on the flow 2 meters behind the AUV‐Stealth
vehicle for the data skin roughness and flow velocity
anticipated.
Thesecondstepduringtheresearchwastocheck
theinfluenceoftheparameters(modelledroughness,
nano‐surface) of the hull skin cover on the flow
including mainly the boundary layer. During the
computersimulationthreetypesofnano‐surfacehas
been modelled. Some results of the computer
simulation of the
flow estimation in the boundary
layer (for the data skin roughness, for the nano‐
surface modelled) are presented in Figure 6 (Ciba,
Dymarski,Gerigk,2018).
Figure6.Theexampleresultsoftheimpactofdifferenthull
skincoversontheflowintheboundarylayeroftheAUV‐
Stealth vehicle for the data skin roughness (nano‐surface
modelled)andflowvelocityanticipated.
The third step was to check the influence of the
hullskincoveronthesonarsystemsignal.Duringthe
towingtankinvestigationsthreetypesofAUV‐Stealth
hull skin covers were tested. Some results of these
investigations are presented in Figure 7 (Barański,
Gerigk,2018).
691
Figure7. Some results ofthe hydro‐acoustic investigations
oftheAUV‐Stealthvehicle.
6 CONCLUSIONS
In the paper some results connected with
development of the AUV‐Stealth vehicle model are
presented.
Some data on the AUV‐Stealth vehicle concept,
research method, hydrodynamic and stealth
characteristics of the AUV‐Stealth vehicle are
describedinthepaper.
As the examples some results concerning the
impact of
the different hull skin covers (skin
roughness, nano‐surface) on the boundary layer,
wakeandsonarsignalwereinvestigated.
At the current stage of research an influence of
combined stealth characteristics on the AUV‐Stealth
vehicleperformanceisinvestigated.
7 ACKNOWLEDGEMENTS
This work was founded by the National Centre for
ResearchandDevelopmentNCBiR withinthePBSIII
initiative(AgreementNo.PBS3/A6/27/2015)underthe
project entitled „Model obiektu wodnego typu
„stealth”oinnowacyjnychrozwiązaniachwzakresie
kształtu,konstrukcjiimateriałówdecydujacychojego
trudno‐wykrywalności”.
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