• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.9-12
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• 1999

This paper presents the development of a control architecture for the autonomous underwater vehicle (AUV) with VARIVEC (variable vector) propeller. Moreover this paper also describes the new technique of controlling the servomotors using the Field Programmable Gate Array (FPGA). The AUVs are being currently used fur various work assignments. For the daily measuring task, conventional AUV are too large and too heavy. A small AUV will be necessary for efficient exploration and investigation of a wide range of a sea. AUVs are in the phase of research and development at present and there are still many problems to be solved such as power resources and underwater data transmission. Further, another important task is to make them smaller and lighter for excellent maneuverability and low power. Our goal is to develop a compact and light AUV having the intelligent capabilities. We employed the VARIVEC propeller system utilizing the radio control helicopter elements, which are swash plate and DC servomotors. The VARIVEC propeller can generate six components including thrust, lateral force and moment by changing periodically the blade angle of the propeller during one revolution. It is possible to reduce the number of propellers, mechanism and hence power sources. Our control tests were carried out in an anechoic tank which suppress the reflecting effects of the wall surface. We tested the developed AUV with required performance. Experimental results indicate the effectiveness of our approach. Control of VARIVEC propeller was realized without any difficulty.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.219-227
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• 2016

Numerical simulation based on the Reynolds Averaged Naviere-Stokes (RANS) Computational Fluid Dynamics (CFD) method had been carried out with the commercial code ANSYS CFX. The structured grid and SST $k-{\omega}$ turbulence model had been adopted. The impact of non-condensable gas (NCG) on cavitation performance had been introduced into the Schnerr and Sauer cavitation model. The numerical investigation of cavitating flow of marine propeller E779A was carried out with different advance ratios and cavitation numbers to verify the numerical simulation method. Tip clearance effects on the performance of pumpjet propulsor had been investigated. Results showed that the structure and characteristics of the tip leakage vortex and the efficiency of the propulsor dropped more sharply with the increase of the tip clearance size. Furthermore, the numerical simulation of tip clearance cavitation of pumpjet propulsor had been presented with different rotational speed and tip clearance size. The mechanism of tip clearance cavitation causing a further loss of the efficiency had been studied. The influence of rotational speed and tip clearance size on tip clearance cavitation had been investigated.

• 한국해양공학회지
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• 제23권1호
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• pp.48-53
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• 2009

Autonomous Underwater Vehicles (AUV's) provide an important means for collecting detailed scientific information from the ocean depths. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a design method that uses Computational Fluid Dynamics (CFD) to determine the hull resistance of an AUV under development. The CFD results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) of an AUV with a ducted propeller. This paper also discusses the optimization of the AUV hull profile to reduce the total resistance. This paper demonstrates that shape optimization in a conceptual design is possible by using a commercial CFD package. Optimum design work to minimize the drag force of an AUV was carried out, for a given object function and constraints.

• 한국해양공학회지
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• 제32권3호
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• pp.208-212
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• 2018

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.

• International Journal of Naval Architecture and Ocean Engineering
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• 제3권4호
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• pp.263-273
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• 2011

The diffuse interface model of Saurel et al. (2008) is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009) is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile). Performance data are then computed showing method ability to predict forces acting on the system.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.426-434
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• 2015

In this paper we proposed a dada-aided Doppler estimation method for underwater acoustic communication. The training sequence is non-dedicate, hence it can be designed for Doppler estimation as well as channel equalization. We assume the channel has been equalized and consider only flat-fading channel. First, based on the training symbols the theoretical received sequence is composed. Next the least square principle is applied to build the objective function, which minimizes the error between the composed and the actual received signal. Then an iterative approach is applied to solve the least square problem. The proposed approach involves an outer loop and inner loop, which resolve the channel gain and Doppler coefficient, respectively. The theoretical performance bound, i.e. the Cramer-Rao Lower Bound (CRLB) of estimation is also derived. Computer simulations results show that the proposed algorithm achieves the CRLB in medium to high SNR cases.

• 대한조선학회논문집
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• 제45권6호
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• pp.695-702
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• 2008

In this paper, a new numerical method is proposed to analyze near-field sonar cross section of acoustically large-sized underwater targets such as submarines. A near-field problem is converted to a far-field problem using a spherical projection method with respect to the objective target. Then, sonar cross section is calculated with a physical optics well established in far-field acoustic wave scattering problems. The analysis results of a square flat plate compared with those obtained by other method show the accuracy of the proposed method. Moreover, it is noted that the sonar cross section is varied with respect to the targeting point as well as the range. Finally, numerical analysis results of real-like underwater target such as a submarine pressure hull are discussed.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권6호
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• pp.730-740
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• 2018

Hydrofoil is the direct component to generate thrust for underwater glider. It is significant to improve propulsion efficiency of hydrofoil. This study optimizes the shape of a hydrofoil using Free-Form Deformation (FFD) parametric approach and Surrogate-based Optimization (SBO) algorithm. FFD approach performs a volume outside the hydrofoil and the position changes of control points in the volume parameterize hydrofoil's geometric shape. SBO with adaptive parallel sampling method is regarded as a promising approach for CFD-based optimization. Combination of existing sampling methods is being widely used recently. This paper chooses several well-known methods for combination. Investigations are implemented to figure out how many and which methods should be included and the best combination strategy is provided. As the hydrofoil can be stretched from airfoil, the optimizations are carried out on a 2D airfoil and a 3D hydrofoil, respectively. The lift-drag ratios are compared among optimized and original hydrofoils. Results show that both lift-drag-ratios of optimized hydrofoils improve more than 90%. Besides, this paper preliminarily explores the optimization of hydrofoil with root-tip-ratio. Results show that optimizing 3D hydrofoil directly achieves slightly better results than 2D airfoil.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.227-235
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• 2016

Heavy-weight high speed underwater vehicle(HSUV) is launched from the submerged mother ship. For the safety point of view, it is important to confirm whether the HSUV would touch the launching mother ship. In this paper, the hydrodynamic force and moment were modeled by the polynomials of motion variables and the simple lift and drag acting on a plate and cylinder which consist of the HSUV's several parts. The mother ship was assumed as the Rankine half body to consider the flow field near the moving ship. Such hydrodynamic force and moment were included in the 6 DOF equations of motion of the HSUV and the dynamic simulations for the various conditions of the HSUV until the propeller activation were performed. Developed simulation program is expected to reduce the number of expensive sea trial test to develop safety logic of the HSUV at the initial firing stage.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.455-467
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• 2020

Shape design optimization for Blended-wing-body Underwater Gliders (BWBUGs) is usually computationally expensive. In our previous work, a simplified shape optimization (SSO) strategy is proposed to alleviate the computational burden, which optimizes some of the Sectional Airfoils (SAs) instead of optimizing the 3-D shape of the BWBUG directly. Test results show that SSO can obtain a good result at a much smaller computational cost when three SAs are adopted. In this paper, the performance of SSO is investigated with a different number of SAs selected from the BWBUG, and the results are compared with that of the Direct Shape Optimization (DSO) strategy. Results indicate that SSO tends to perform better with more SAs or even outperforms the DSO strategy in some cases, and the amount of saved computational cost also increases when more SAs are adopted, which provides some reference significance and enlarges the applicability range of SSO.