A study of the drag and propulsion performance, and motion analysis of an Underwater Disk Robot (UDR)

Author

Tae-Hwan Joung ; Myung-Man Woo ; Hyeung-Sik Choi ; Sammut, Karl ; Ngoc-Huy Tran ; Fangpo He

Author_Institution

Fac. of Sci. & Eng., Flinders Univ., Adelaide, SA, Australia

fYear

2012

fDate

21-24 May 2012

Firstpage

1

Lastpage

8

Abstract

This paper shows a method for predicting the drag and propulsion performance (thrust, torque estimation) of an Underwater Disk Robot (UDR). The Computational Fluid Dynamics (CFD) software, ANSYS-CFX, was used to predict the drag and propulsion performance of the UDR before comparing the CFD results with the results of the empirical method (ITTC1957) and an experimental bollard test conducted within a model basin. Finally, heave and pitch motion simulation studies of the UDR were carried out with the CFD software. The CFD results reveal the distribution of hydrodynamic values (velocity, pressure, etc.) of the UDR for these motion studies.

Keywords

autonomous underwater vehicles; computational fluid dynamics; drag; hydrodynamics; marine propulsion; mobile robots; motion control; ANSYS-CFX software; CFD software; UDR; computational fluid dynamics; drag performance prediction; heave motion simulation; hydrodynamics; motion analysis; pitch motion simulation; propulsion performance prediction; underwater disk robot; Blades; Computational fluid dynamics; Computational modeling; Drag; Force; Propulsion; Robots; Computational Fluid Dynamics (CFD) software; Drag and propulsion performance; Underwater Disk Robot (UDR);

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2012 - Yeosu

Conference_Location

Yeosu

Print_ISBN

978-1-4577-2089-5

Type

conf

DOI

10.1109/OCEANS-Yeosu.2012.6263452

Filename

6263452