Numerical Derivation of Hydrodynamic Forces and Invention of a New Diving Technique for the Batoid Underwater Robot

As part of a design project for a batoid-inspired underwater robot, its dive to a predetermined depth is questioned here. Previously, the vehicle was designed with a streamlined hull shape that resembles a Dasyatis batoid fish, and the fish locomotion was imitated using undulating fins at each side. The authors did not, however, provide a buoyancy engine or any fins to turn the vessel in the vertical plane and conduct diving maneuvers. The authors expect to leave the vessel on the water surface, and it dives to a desired depth and then maintains a constant pitch angle and a constant forward speed. A new technique is invented here: the thrust forces of the two fins are shifted off the central top-bottom symmetry plane of the hull, therefore producing a pitching moment on the vessel. An initial trim is also introduced by shifting the center of mass forward the center of buoyancy. Therefore, the vessel is initially bowed down and, by its out-of-plane thrust force, adjusts its pitch attitude. The question is whether a final balance between the thrust force and the hydrodynamic forces will be feasible. The hydrodynamic forces at such forward speeds and attack angles were numerically derived using the computational fluid dynamics powerful software ANSYS-CFX.

• Record URL:
  • https://doi.org/10.4031/MTSJ.50.5.7
• Record URL:
  • http://www.ingentaconnect.com/content/mts/mtsj/2016/00000050/00000005/art00007
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/1623789
• Supplemental Notes:
  • Copyright © 2016 Marine Technology Society, Inc.
• Authors:
  • Azarsina, Farhood
  • 0000-0003-4341-6447
  • Shahabadi, Mohammad
  • Shadlaghani, Arash
• Publication Date: 2016-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 59-73
• Serial:
  • Marine Technology Society Journal
  • Volume: 50
  • Issue Number: 5
  • Publisher: Marine Technology Society
  • ISSN: 0025-3324
  • Serial URL: http://ingentaconnect.com/content/mts/mtsj

Subject/Index Terms

• TRT Terms: Fishes; Fluid dynamics; Hydrodynamic pressure; Robots; Ships; Thrust; Underwater vehicles
• Uncontrolled Terms: Diving
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01616732
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 21 2016 1:24PM