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Investigating the Geometry and Lifting Surface AUV Robots on Hydrodynamics Performance

Hassanvand, Ali | 2020

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53519 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. 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 each vehicle system represents a new challenge.In this research, we try to provide a suitable background for the conceptual design of AUV robots by considering the common geometries for body design. Due to the variety of purpose and operations that may be considered for this group of robots, a suitable design can be done. He also compared the effect of different geometry series on the hydrodynamic performance of these robots. Using MatLab software, an algorithm has been prepared that provides a suitable design considering the basic information. This program performs calculations related to hydrostatics, hydrodynamics, hull design, propulsion system design, location, dynamic modeling and structural strength. Added body series are DARPA Suboff, Series 58, Myring and DRDC. This algorithm is designed in such a way that the user can have a more optimal design by comparing the bodies. Finally, using the GUI, a suitable environment has been found for easier and faster use for the user
  9. Keywords:
  10. Hydrodynamics ; Dynamic Modeling ; Conceptual Design ; Autonomous Underwater Vehicle ; UnderWater Robot ; Propulsion ; Hull and Surface Control Design

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