• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.448-461
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• 2019

Changes in gravity and buoyancy of a Full Ocean Depth Autonomous Underwater Vehicle (FOD-AUV) during its descending and ascending process must be considered very carefully compared with a Human Occupied Vehicle (HOV) or a Remotely Pperated Vehicle (ROV) whose activities rely on human decision. We firstly designed a two-step weight dropping pattern to achieve a high descending and ascending efficiency and a gravity-buoyancy balance at designed depth. The static equations showed that gravity acceleration, seawater density and displacement are three key aspects affecting the balance. Secondly, we try our best to analysis the gravity and buoyancy changing according to the previous known scientific information, such as anomaly of gravity acceleration, changing of seawater states. Finally, we drew conclusion that gravity changes little (no more than 0.1kgf, it is impossible to give a accurate value). A density-depth relationship at the Challenger Deep was acquired and the displacement changing of the FOD-AUV was calculated preciously.

• 대한조선학회논문집
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• 제53권4호
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• pp.315-328
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• 2016

Techniques for determinating hydrodynamic derivatives of underwater tow-fish using CFD(Computational Fluid Dynamics) are described in this paper. Main components of hydrodynamic derivatives are added mass, linear damping and non-linear damping coefficients. In this study, linear and non-linear damping coefficients for translational velocities are settled by CFD analysis. In order to analyze the underwater tow-fish, UlsanFOAM based on open-source CFD code, namely OpenFOAM, is employed. By simulating pitch and yaw angle variation of underwater tow-fish, 6DOF(Degree-of-Freedom) forces and moments are estimated at each attitudes. In order to determinate the hydrodynamic derivatives, curves(forces and moments vs attitude) for CFD results are fitted by least square methods. To demonstrate the applicability of the current approach, two different problems(impulsive side towing and straight towing) are simulated and all results are validated.

• 한국해양공학회지
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• 제36권2호
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• pp.83-90
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• 2022

This paper presents the minimum submergence depth of an underwater vehicle that can remove the effect of free surface on the resistance of the underwater vehicle. The total resistance of the underwater vehicle in fully submerged modes comprises only viscous pressure and friction resistances, and no wave resistance should be present, based on the free surface effect. In a model test performed in this study, the resistance is measured in the range of 2 to 10 kn (1.03-5.14 m/s) under depth conditions of 850 mm (2.6D) and 1250 mm (3.8D), respectively, and the residual resistance coefficients are compared. Subsequently, resistance analysis is performed via computational fluid dynamics (CFD) simulation to investigate the free surface effect based on various submergence depths. First, the numerical analysis results in the absence of free surface conditions and the model test results are compared to show the tendency of the resistance coefficients and the reliability of the CFD simulation results. Subsequently, numerical analysis results of submergence depth presented in a reference paper are compared with the model test results. These two sets of results confirm that the resistance increased due to the free surface effect as the high speed and depth approach the free surface. Therefore, to identify a fully submerged depth that is not affected by the free surface effect, case studies for various depths are conducted via numerical analysis, and a correlation for the fully submerged depth based on the Froude number of an underwater vehicle is derived.

• 한국해양공학회지
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• 제30권2호
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• pp.141-149
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• 2016

In this technical note, the issues and challenges for the launch and recovery systems (LARS) and related techniques for the operation of an underwater robot from a manned platform are considered. Various types of LARS fitted to specific manned platforms, surface or sub-surface, are surveyed and categorized. The current UUV launch and recovery systems from surface ships and submarines utilize time consuming processes. As underwater robot technologies evolve and their roles are defined, safe and effective launch and recovery methods should be developed capable of reliable and efficient operations, particularly at a high sea state. To improve the existing underwater robot capabilities, LARS technology maturation is required in the near term, leading to the ability to incorporate autonomous LARS for an underwater robot on a manned platform. In the near term, particular emphasis should be placed on UUV LARS, which are surface ship based, with submarine based systems in the long term. Furthermore, for a dedicated LARS ship, independent of the existing host ship type, particular emphasis should be given to fully utilizing the capabilities of underwater robots.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.243-251
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• 2016

Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.988-995
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• 2020

Air gun shock systems are commonly used as alternative explosion energy sources for underwater explosion (UNDEX) shock tests owing to their low cost and environmental impact. The airbag inflator of automotive airbag systems is also very useful to generate extremely rapid underwater gas release in labscale tests. To overcome the restrictions on the very small computational time step owing to the very fine fluid mesh around the nozzle hole in the explicit integration algorithm, and also the absence of a commercial solver and software for gas UNDEX of airbag inflator, an idealized airbag inflator and fluid mesh modeling technique was developed using nozzle holes of relatively large size and several small TNT charges instead of gas inside the airbag inflator. The objective of this study is to validate the results of an UNDEX response analysis of one and two idealized airbag inflators by comparison with the results of shock tests in a small water tank. This comparison was performed using the multi-material Arbitrary Lagrangian-Eulerian formulation and fluid-structure interaction algorithm. The number, size, vertical distance from the nozzle outlet, detonation velocity, and lighting times of small TNT charges were determined. Through mesh size convergence tests, the UNDEX response analysis and idealized airbag inflator modeling were validated.

• 한국항해항만학회지
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• 제45권1호
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• pp.16-25
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• 2021

동유체력 미계수는 수중운동체의 조종성능을 예측하기 위해 정확히 추정되어져야 하며 추정 방법의 일환으로 다양한 모형시험이 수행되어오고 있다. 수중운동체는 횡동요 모멘트 변화에 민감하므로 관련 동유체력 미계수를 추정하는 작업은 정확히 수행되어져야 한다. 본 연구에서는 횡동요 운동과 관련한 동유체력 미계수를 간단하게 추정할 수 있는 순수 횡동요 장비를 새롭게 설계하였다. 횡동요 운동은 간단한 기계적 메커니즘을 통하여 구현하였으며, 메커니즘의 원리와 적용과정 그리고 설계한 장비의 system identification에 대해 기술하였다. 또한 순수 횡동요 시험의 해석방법을 제시하고 설계한 장비에 대해 반복시험을 거쳐 결과의 재현성을 확인하였다.

• 한국해양공학회지
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• 제26권4호
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• pp.1-7
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• 2012

This paper deals with the global path planning problem for AUVs (autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation results showed that the genetic algorithm could be applied to generate an optimal path in the field of a tidal current with multiple obstacles.

• International Journal of Naval Architecture and Ocean Engineering
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• 제5권3호
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• pp.392-403
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• 2013

For the analysis of radiating noise problems in medium-to-high frequency ranges, the Energy Flow Boundary Element Method (EFBEM) was developed. EFBEM is the analysis technique that applies the Boundary Element Method (BEM) to Energy Flow Analysis (EFA). The fundamental solutions representing spherical wave property for radiating noise problems in open field and considering the free surface effect in underwater are developed. Also the directivity factor is developed to express wave's directivity patterns in medium-to-high frequency ranges. Indirect EFBEM by using fundamental solutions and fictitious source was applied to open field and underwater noise problems successfully. Through numerical applications, the acoustic energy density distributions due to vibration of a simple plate model and a sphere model were compared with those of commercial code, and the comparison showed good agreement in the level and pattern of the energy density distributions.

• 한국해양공학회지
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• 제27권2호
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• pp.114-120
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• 2013

A superhydrophobic surface means that the contact angle between the solid surface and a water droplet is more than $150^{\circ}$. Materials with a superhydrophobic surface have a self-cleaning function because of the Lotus effect, in which water is not absorbed by the material but rolls off of it. If such a Lotus effect can be applied to the surface of underwater vessels, submarines, torpedos, and so on, enhanced vessels can be made based on this lubricant effect reducing the friction coefficient for the liquid. Because polymer composites can be easily applied in various nanotechniques, they are more advantageous than conventional materials like iron in terms of a superhydrophobic surface. Furthermore, a superhydrophobic surface bring enhanced anticorrosion and ecotechnology because no paint is needed on underwater vessels.