Thesis
Remora-inspired dynamic recovery strategies for the autonomous underwater vehicle
- Creator
- Rights statement
- Awarding institution
- University of Strathclyde
- Date of award
- 2024
- Thesis identifier
- T17148
- Person Identifier (Local)
- 201978657
- Qualification Level
- Qualification Name
- Department, School or Faculty
- Abstract
- Autonomous Underwater Vehicles (AUVs) are employed across various industries to enhance maritime operations' efficiency and safety. Traditional AUV docking and recovery techniques often face inefficiencies, necessitating the development of a dynamic underwater recovery mechanism. This thesis explores the design and development of a remora-inspired AUV equipped with an innovative dynamic recovery system. Drawing inspiration from the unique adhesion and hitchhiking behaviours of remora fish, the research addresses AUV recovery challenges by leveraging biomimetic principles. The study begins by examining the hydrodynamic mechanisms of the remora fish to understand their efficient swimming and attachment strategies, which serve as a foundation for novel AUV design. Numerical simulations demonstrate that remora fish exploit the boundary layer and the adverse pressure gradient regions around sharks to significantly reduce resistance. Building on these insights, a remora-inspired AUV is developed, and its hydrodynamic performance is assessed using computational fluid dynamics simulations. The research then identifies optimal attachment locations on a benchmark submarine, focusing on drag reduction and operational feasibility. Further simulations explore the hydrodynamic characteristics of the AUV during the docking process, particularly as it enters the submarine's boundary layer and approaches it. The docking processes can be analysed in five stages: approach, enter, contact, bounce and attach. After the docking process, this boundary layer flow not only affect the AUV's resistance but also generates a force that attracts the AUV toward the submarine. This study investigates the reasons behind remora’s choice of attachment locations, identifies optimal attachment sites for AUVs, and examines the effects on AUVs when two underwater vehicles of significantly different sizes are in close proximity. The findings lay the groundwork for future research aimed at developing dynamic underwater docking operations.
- Advisor / supervisor
- Shi, Weichao
- Demirel, Yigit Kemal
- Jia, Laibing
- Resource Type
- DOI
Relazioni
Articoli
| Thumbnail | Titolo | Data caricata | Visibilità | Azioni |
|---|---|---|---|---|
|
|
PDF of thesis T17148 | 2024-11-26 | Pubblico | Scaricare |