Sharif Digital Repository

Planing crafts in waves are characterized by large and violent vertical motion and acceleration. The hull structure is subjected to high impact loads and the crew experiences high transient vertical acceleration and in most cases the crew needs to lower speed in order to avoid damage to the hull.In recent years, interest on increasingly faster marine vehicles has remarkably grown. Typical planing monohulls are: patrol vessels, pilot boats, rescue vessels, coast guard vessels and small navy vessels. So the behavior of planing monohulls in waves has been a widely researched topic since more and more planing monohulls appeared.The accurate prediction of large amplitude ship motions in severe... 

In this thesis, cavitating flow over 2D/3D geometries of cavitators and projectile bodies in stationary and moving conditions are simulated using the "Volume of Fluid" (VOF) technique. The main application of VOF model is for simulating free surface flows. In this work, another capability is added to the VOF algorithm to solve for gas phase and by applying analytical-numerical mass transfer models, cavitation phenomenon is simulated. The developed algorithm precisely simulates the geometrical parameters of supercavities such as dimension and shape in a wide range of cavitation numbers. In addition, the flow parameters of supercavity such as drag coefficient, pressure coefficient inside the... 

In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the hydrodynamic coefficients of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains various hydrodynamic forces and moments expressed collectively in terms of hydrodynamic coefficients. Therefore, the correct values of the coefficients must be known to precisely design the controller of AUVs.SUT-2 is an AUV, being developed by Marine Engineering Laboratory of Sharif University of... 

In this thesis, the potential flow including unsteady partial cavitation around axisymmetric bodies are studied using a boundary element method (BEM) based on potential theory. For this purpose the wetted surface of the body and cavity surface are divided (approximated) to panels. Then, by applying the Green’s third identity and expressing this theory in potential flow around every surface, cavitation can be modeled by distributing the source and the dipole rings on cavity/body surface. In order to approaching this goal we introduced dipole rings distribution on the cavity and body surfaces and source rings distribution on the cavity surface. In this work the cavitation number is assumed to... 

Performing research and development in the field of modern vessel types which serve several functions is considerably necessary because of their importance and rapid development. HARTH vessel is considered one of the important ships which has been recently attracted much attention from the world. In this respect, a full investigation of its performance could make a big contribution to its optimum design and appropriate exploitation.“HARTH” ship is the abbreviation for “High Aspect Ratio Twin Hull” is included in the catamaran vessel category with a high aspect ratio with respect to their underwater cross-section’s ratio of length to width.A host of crucial issues should be considered for... 

Improving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles’ maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of... 

The purpose of this study is extracting a dynamic model of longitudinal motions of high speed catamaran in regular and irregular waves, and then motion control of vessels by using of foil control elements and interceptor. For simulating longitudinal motions in regular waves, at first the longitudinal hydrodynamic coefficients of vessels should be extracted, then by substituting extracted coefficients in cumminz equation and using system identification methods, some equations are presented to estimate longitudinal two degree of freedom motions of high speed catamaran in waves. In this thesis the extraction of hydrodynamic coefficients is based on both numerical and experimental methods. ANSYS... 

In this thesis ship propeller performance in maneuvering conditions have been investigated which means an oblique flow condition for working propeller. Then results of these investigations have been put to use to simulate maneuvering using MMG equations. These calculations have been done to investigate nominal wake variations in different drift angles and depth conditions. In this project displacement vessel KVLCC2 and propeller POTSDAM VP1304 have been studied due to the abundance of experimental data. Calculations in this study have been carried in three steps: 1, calculation of nominal wake of the vessel in different drift angles and depths via CFD. 2, Using the results of previous... 

Partially submerged propellers are new type of propellers which knowledges ragard them is limited. These propellers found a growing market ahead of them and expertsexpect to use these propellers for big vessels at high speeds. This type of propulsors do not lose their efficiences at high speeds and are assumped to be economical. Meanwhile due to continuosus hit to water surface, huge stresses are extered on tha blade witch needs to be fundamentally studied. Several researchers have studied the partially submerged propellers which unfortunately did not publish their results. Undergo less or more thrust and torques which in both cases the efficiency also increases. The use of numerical methods... 

High speed crafts due to their design, geometry, one of the parameters to improve the performance of hydrodynamic elements such as trim tabs, bow thruster, steps and Spray rails.Step is an element which change height of bottom and due to reduce wetted area and extra lift and finally cause to improve drag of vessel.In this thesis we have evaluated numerically and compared with experimental tests on planning crafts in calm water and waves, and the effects on the motions of floating and drag floating are compared.Numerical analysis is conducted to help Ansys.CFX software. First, to provide 2D modeling and analyzing real-bodies floating in calm water and waves with simple, step-paid. The... 

Reduction ships resistance is the major issues that always been about moving the ship into a water. In the course of research, many scientists have been interest to resistance reduction. It is important protect the body of ship against damage caused by sticking marine algae and crustaceans as protection against corrosive agents. Marine organisms such as algae, crustaceans and bacteria stick on submerged surfaces and increase the ship resistance. In this thesis resistance reduction using coating is evaluated. Foul release paint make smooth surface and low surface energy therefore ship with foul release coating experience lower drag contrast ship with another coating in the unfouled condition.... 

In positioning and navigation, Sonar with utilization of sound waves in water environments is similar to the role of Radar in not watered (irrigated) environments. In the Sonar field, modeling and simulation of propagation of sound waves in the undersea environment is a fundamental and very important topic. Nowadays simulation is significant tool that allow to the researchers to predict the quality of Sonar function respect to the experimental conditions. For simulation and modeling of sound wave propagation are used two different methods; Wave theory and Ray theory. In the wave theory, because of the large volume of data, the interpretation of the results is hard. Also in this method cannot... 

Nowadays, reaching higher speed in marine crafts and underwater vehicles mostly requires a modern propulsor with high efficiency and enhanced cavitation performance. Because of these requirements, numerous researches for developing the existing propulsion systems and invention of new systems have been conducted in recent years. One of the most sophisticated and developed propulsion systems that have high hydrodynamic efficiency and high cavitation performance and low acoustic signature is pumpjet. This propulsor contains a rotor, stator and a duct that surrounds two other parts. Stator reduces the swirl of flow coming from rotor and thereby reduces the loss of energy. High cavitation... 

In this research, it has been tried to design two controllers for a KVLCC2 tanker assuming unknown hydrodynamic characteristics and its mathematical model in order to maintain its course and speed. At first, due to the lack of an experimental model of a vessel, a three-degree-of-freedom MMG model of the KVLCC2 vessel was modeled in the SIMULINK, MATLAB, to be used as a basis for other tests and simulations. Therefore, by using the designed three degree of freedom model, all parameters affecting the floating maneuver were examined. In the next section, using the DNV standard, we designed two wind and sea current systems for system input disturbances. And finally, by using dynamic models of... 

Special geometrical sections, known as “duct”, which can be installed on merchant vessels stern in order to improve propulsion system and propeller performance, today have evolved considerably. The force which produces by the propeller depends on efficiency of propulsion system. In the way of improving the efficiency of propulsion systems, by using these special geometrical sections, to much research have been done from the mid-twentieth century. The Wake Equalizing Ducts (WEDs) in addition to conduct the more uniform fluid flow to the propeller disk (which causes to improve the propeller operation), affect on flow separation in ship stern zone and will decrease the separated flow zone.... 

Planing hulls have been under rapid development during recent years and their maximum speed has increased significantly thanks to advancements in high power engines and light weight hull construction methods. In the past two decades, the main concern have been hydrodynamic characteristics and stability of the planing hulls in straight-line motion in calm and rough water, and no applied mathematical model is proposed for their dynamic motions in different maneuvers in contrast to displacement hulls. Moreover, control loss at high speeds is very prevalent and in most cases this leads to economy and human losses. The main target of this thesis is to develop and validate a mathematical model to... 

Dynamics modeling of high speed crafts in waves is one of the major problems in design precess. Mathematical models compared with other methods have lower cost for studying behavior of ships in waves. On the other hand, experimental methods may also be suitable for various problems. Due to nonlinear behavior of high speed crafts, dynamics modeling of these vessels will be. Combination of experimental and mathematical models to predict the precise dynamics of high speed craft in wave is a suitable method. In this study, a nonlinear method is used for predicting the motions of vessels in waves. In this method, nonlinear time domain behavior of vessel is studied. At first a monohull vessel... 

The aim of this study is to design a control system for an autonomous underwater vehicle and evaluate this system for different missions. Due to the non-linear behavior of the target robot, both linear and non-linear behavior of the system was studied. Model Predictive control method has been implemented since it can outline both linear and non-linear controllers. The first non-linear dynamics of this robot, maneuvering equipment, and external disturbances (waves and ocean current) were modeled. Then, to design the linear controller, the equations of motion have been linearized around the working point(cruise speed). In order to analyze both designed controllers, various duties have been... 

Submarine is one of the strategic vehicles that its design depends on complex knowledge. Submarine design is very important for some countries because lack of information, and for this reason some submarines were bought from submarine designer countries. One of the important issues is maneuvering that it depends on motion conditions. To survey submarine motions assume that: Submarine is in submerge condition Submarine moves rapidly (dynamical maneuvering) and Trust forces determine To solving motion equation software was supply and simplifies motion equations. To simplifying motion equation some non-effective motion equations parameters were omitted by one symmetry plane. Then hull shape was... 

Ship maneuvering simulation and prediction in preliminary design stages has been concerned since forty years ago due to accidents occurred to large vessels and so many efforts have been held to develop the methods for simulation of ship maneuvering. Standards concerning ship maneuvering have been presented by International Maritime Organization that is known as a criteria to evaluate maneuvering performance of the ships. Traditionally ship maneuvering has been simulated in deep water and without any environmental conditions such as wind, wave, marine currents and effects resulted by asymmetric flow around ship hull during waterway entrance and shallow waters. Furthermore by introducing the...