• Journal of Advanced Marine Engineering and Technology
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• v.39 no.6
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• pp.614-619
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• 2015

In this study, a dynamics model was developed to predict the motion performance of an Autonomous Underwater Vehicle (AUV). The dynamics model includes basic dynamic state variables of the hull and force terms to determine the motion of the AUV. The affecting terms for the forces are hydrostatic force, added mass, hydrodynamic damping, lift and drag forces. The force terms can be calculated using analytical and Computational Fluid Dynamics methods. For the underwater motion simulation, a simple PD controller was used. Also, the AUV was tested in a water tank and near sea for the partial verification of the fluid drag force coefficients and way-point tracking motions.

• Wind and Structures
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• v.22 no.5
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• pp.573-594
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• 2016

Simultaneous pressure measurements on 2D square prisms with various corner modifications were performed in uniform flow with low turbulence level, and the testing Reynolds numbers varied from $1.0{\times}10^5$ to $4.8{\times}10^5$. Experimental models were a square prism, three chamfered-corner square prisms (B/D=5%, 10%, and 15%, where B is the chamfered corner dimension and D is the cross-sectional dimension), and six rounded-corner square prisms (R/D =5%, 10%, 15%, 20%, 30%, and 40%, where R is the corner radius). Experimental results of drag coefficients, wind pressure distributions, power spectra of aerodynamic force coefficients, and Strouhal numbers are presented. Ten models are divided into various categories according to the variations of mean drag coefficients with Reynolds number. The mean drag coefficients of models with $B/D{\leq}15%$ and $R/D{\leq}15%$ are unaffected by the Reynolds number. On the contrary, the mean drag coefficients of models with R/D=20%, 30%, and 40% are obviously dependent on Reynolds number. Wind pressure distributions around each model are analyzed according to the categorized results.The influence mechanisms of corner modifications on the aerodynamic characteristics of the square prism are revealed from the perspective of flow around the model, which can be obtained by analyzing the local pressures acting on the model surface.

• Journal of the Korean Society of Visualization
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• v.16 no.3
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• pp.26-34
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• 2018

In the present study, an experimental assessment has been made of the drag reducing efficiency of the outer-layer vertical blades, which were first devised by Hutchins(1). A detailed flow field measurements have been performed using 2-D time resolved PIV with a view to enabling the identification of drag reduction mechanism. In addition, an experimental investigation has been made of the applicability of outer-layer vertical blades to real ship model. The arrays of outer-layer vertical blades have been installed onto the flat side and flat bottom of a 300k KVLCC model. A series of towing tank test has been carried out to investigate resistance (CTM) reduction efficiency with various geometric parameters and installed places of blades. The installation of vertical blades led to the CTM reduction of 1.44~3.17% near the service speed.

• Korea-Australia Rheology Journal
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• v.17 no.3
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• pp.131-140
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• 2005

In this work we show the results of our most recent Direct Numerical Simulations (DNS) of turbulent viscoelastic channel flow using spectral spatial approximations and a stabilizing artificial diffusion in the viscoelastic constitutive model. The Finite-Elasticity Non-Linear Elastic Dumbbell model with the Peterlin approximation (FENE-P) is used to represent the effect of polymer molecules in solution, The corresponding rheological parameters are chosen so that to get closer to the conditions corresponding to maximum drag reduction: A high extensibility parameter (60) and a moderate solvent viscosity ratio (0.8) are used with two different friction Weissenberg numbers (50 and 100). We then first find that the corresponding achieved drag reduction, in the range of friction Reynolds numbers used in this work (180-590), is insensitive to the Reynolds number (in accordance to previous work). The obtained drag reduction is at the level of $49\%\;and\;63\%$, for the friction Weissenberg numbers 50 and 100, respectively. The largest value is substantially higher than any of our previous simulations, performed at more moderate levels of viscoelasticity (i.e. higher viscosity ratio and smaller extensibility parameter values). Therefore, the maximum extensional viscosity exhibited by the modeled system and the friction Weissenberg number can still be considered as the dominant factors determining the levels of drag reduction. These can reach high values, even for of dilute polymer solution (the system modeled by the FENE-P model), provided the flow viscoelasticity is high, corresponding to a high polymer molecular weight (which translates to a high extensibility parameter) and a high friction Weissenberg number. Based on that and the changes observed in the turbulent structure and in the most prevalent statistics, as presented in this work, we can still rationalize for an increasing extensional resistance-based drag reduction mechanism as the most prevalent mechanism for drag reduction, the same one evidenced in our previous work: As the polymer elasticity increases, so does the resistance offered to extensional deformation. That, in turn, changes the structure of the most energy-containing turbulent eddies (they become wider, more well correlated, and weaker in intensity) so that they become less efficient in transferring momentum, thus leading to drag reduction. Such a continuum, rheology-based, mechanism has first been proposed in the early 70s independently by Metzner and Lamley and is to be contrasted against any molecularly based explanations.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.643-648
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• 2001

The direct simulation Monte Carlo(DSMC) method is applied to investigate steady and unsteady flow fields of a single-stage disk-type drag pump. Two different kinds of pumps are considered: the first one is a rotor-rotor combination, and the second one is a rotor-stator combination. The pumping channels are cut on a rotor and stator. The rotor and stator have 10 Archimedes' spiral blades, respectively. In the present DSMC method, the variable hard sphere model is used as a molecular model, and the no time counter method is employed as a collision sampling technique. For simulation of diatomic gas flows, the Borgnakke-Larsen phenomenological model is adopted to redistribute the translational and internal energies. The DSMC results are in good agreement with the experimental data.

• Journal of Power System Engineering
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• v.20 no.1
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• pp.24-29
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• 2016

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.2
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• Wind and Structures
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• v.12 no.1
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• pp.49-61
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• 2009

A method is presented to estimate the form drag and the base pressure on a triangular cylinder in the presence of blockage effect. The Strouhal number, which is found to increase with the flow constriction experimentally by Ramamurthy & Ng (1973), may be decoupled from the blockage effect when re-defined by using the velocity at flow separation and a theoretical wake width. By incorporating this wake width into the momentum equation by Maskell (1963) for the confined flow, a relationship between the form drag and the base pressure is derived. Independently, the experimental data of surface pressure from Ramamurthy & Lee (1973) are found to be independent of the blockage effect when expressed in terms of a modified pressure coefficient involving the pressure at separation. Using the potential flow model by Parkinson & Jandali (1970) and its subsequent development in Yeung & Parkinson (2000) for the unconfined flow, a linear relation between the pressure at separation and the form drag is formulated. By solving the two equations simultaneously with a specified blockage ratio and an apex angle of the triangular cylinder, the predictions of the drag and the base pressure are in reasonable agreement with experimental data. A new theoretical relationship for the Strouhal number, pressure drag coefficient and base pressure proposed in this study allows the confinement effect to be appropriately taken into consideration. The present approach may be extended to three-dimensional bluff bodies.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Solar Energy
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• v.18 no.4
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• pp.1-10
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• 1998

Polymer induced turbulent drag reduction in a rotating disk apparatus was investigated using four different molecular weights of poly(ethylene oxide)(PEO) in a synthetic seawater solution for the purpose of potential application to the cold water piping in the Ocean Thermal Energy Conversion(OTEC) system. To apply drag reduction to the OTEC we measured the temperature dependence on the drag reduction efficiency. From this study, it was found that the drag reduction efficiency increases with the temperature and the concentration. To measure the drag reduction efficiency during the operation period, the drag reduction behavior was detected as a function of time and the results obtained from the experiment was compared to the Brostow's model equation.