Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II
Dynamics model is essential and critical for a successful navigation and control system design of an underwater vehicle. The main difficulty in dynamics modelling of an underwater vehicle is due to the hydrodynamics forces, in which added mass coefficients and drag coefficients need to be determined...
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sg-ntu-dr.10356-417432023-03-11T17:55:58Z Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II Eng, You Hong Lau Wai Shing, Michael Low Eicher School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mathematics and analysis::Simulations DRNTU::Engineering::Mechanical engineering::Fluid mechanics Dynamics model is essential and critical for a successful navigation and control system design of an underwater vehicle. The main difficulty in dynamics modelling of an underwater vehicle is due to the hydrodynamics forces, in which added mass coefficients and drag coefficients need to be determined. In this project, two approaches computational fluid dynamics (CFD) approach and experimental approach have been used to find the hydrodynamics coefficients for the RRC ROV II, a remotely operated underwater vehicle. Under the CFD approach, WAMIT and ANSYS CFX have been used to estimate added mass coefficients and drag coefficients respectively. After that, the coefficients were compared with the experimental result obtained from a novel free decay test of a scaled model of ROV II. The results show good agreement in prediction of both added mass and drag coefficients. The usage of experimental method and CFD method in parallel has suggested that the two methods complement each other and one's advantages could be used to mask another's weaknesses. The hydrodynamics coefficients found have been verified through experiments using physical ROV II. Therefore, the combined approach developed in this report could be used to find the added mass and drag coefficients for other underwater vehicles. MASTER OF ENGINEERING (MAE) 2010-08-06T06:44:06Z 2010-08-06T06:44:06Z 2009 2009 Thesis Eng, Y. H. (2009). Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II. Master’s thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/41743 10.32657/10356/41743 en 150 p. application/pdf |
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DRNTU::Engineering::Mathematics and analysis::Simulations DRNTU::Engineering::Mechanical engineering::Fluid mechanics Eng, You Hong Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
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Dynamics model is essential and critical for a successful navigation and control system design of an underwater vehicle. The main difficulty in dynamics modelling of an underwater vehicle is due to the hydrodynamics forces, in which added mass coefficients and drag coefficients need to be determined. In this project, two approaches computational fluid dynamics (CFD) approach and experimental approach have been used to find the hydrodynamics coefficients for the RRC ROV II, a remotely operated underwater vehicle. Under the CFD approach, WAMIT and ANSYS CFX have been used to estimate added mass coefficients and drag coefficients respectively. After that, the coefficients were compared with the experimental result obtained from a novel free decay test of a scaled model of ROV II. The results show good agreement in prediction of both added mass and drag coefficients. The usage of experimental method and CFD method in parallel has suggested that the two methods complement each other and one's advantages could be used to mask another's weaknesses. The hydrodynamics coefficients found have been verified through experiments using physical ROV II. Therefore, the combined approach developed in this report could be used to find the added mass and drag coefficients for other underwater vehicles. |
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Lau Wai Shing, Michael |
author_facet |
Lau Wai Shing, Michael Eng, You Hong |
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Theses and Dissertations |
author |
Eng, You Hong |
author_sort |
Eng, You Hong |
title |
Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
title_short |
Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
title_full |
Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
title_fullStr |
Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
title_full_unstemmed |
Hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark II |
title_sort |
hydrodynamic modelling and identification of the robotics research centre remotely operated vehicle mark ii |
publishDate |
2010 |
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https://hdl.handle.net/10356/41743 |
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1761781549818183680 |