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Manoeuvring Experiments Using the MUN Explorer AUV

Autonomous Underwater Vehicles (AUVs) are self-propelled robotic platforms that can perform a predetermined mission completely unmanned. A series of manoeuvring experiments were performed using the MUN Explorer AUV during the summer of 2006 and a selection of these experimental results are presented in this paper. The purpose of these experiments was to collect a set of useful data for validating a hydrodynamic model of the dynamic performance of the vehicle. This paper aims at explaining the methods and measures adopted in accomplishing this task. Apart from providing a data set for validation of the hydrodynamic model, the data record also shows the ability of the AUV to perform extreme manoeuvres and the accuracy with which it can follow a pre-planned mission.

Manoeuvring Trials with the MUN Explorer AUV: Data Analysis and Observations

Manoeuvring trials are usually performed to determine the manoeuvring characteristics of a marine vehicle. It is through certain standard manoeuvres we evaluate the robustness, performance and limitations of the vehicle control system. A series of open-water manoeuvring trials were performed using the MUN Explorer AUV in the summer of 2006. The actual purpose of these experiments was to collect a set of experimental data in order to validate a hydrodynamic model of the dynamic performance of the vehicle. This paper presents the results and observations from the analysis of a set of manoeuvring trials data: in particular the results from straight- line (acceleration - deceleration) tests and turning circles. It outlines briefly the method by which these tests were conducted and discusses the results and observations made. Apart from providing a data set for validation purposes, the results also indicate the ability of the vehicle to follow a pre-planned mission with precision.

Ocean Outfall Mapping Using an Autonomous Underwater Vehicle

Ocean outfalls are difficult to observe and the traditional monitoring methods are expensive and can only provide limited information. As an alternative, Autonomous Underwater Vehicles (AUVs) have proved to be an effective tool for outfall mapping. This paper describes an outfall mapping mission by the MUN Explorer AUV off the east coast of Canada. A submerged freshwater outfall with Rhodamine WT dye was discharged into a bay and the MUN Explorer AUV equipped with a fluorometer was used to measure the dye concentration and the extent of the dispersed plume. The results have shown that the AUV can be effectively used to map the outfall and future work is needed to provide more detailed plume information.

Simulation of Surface Pressure Induced by Vortex/Body Interaction

When a strong vortical wake impacts a structure, the pressure on the impacted surface sees large variations in its amplitude. This pressure fluctuation is one of the main sources causing severe structural vibration and hydrodynamic noise. Economical and effective prediction methods of the fluctuating pressure are required by engineers in many fields. This paper presents a wake impingement model (WIM) that was incorporated into a panel method code, Propella, and its applications in simulations of a podded propeller wake impacting on a strut. Simulated strut surface pressure distributions and variations are compared with experimental data in terms of time-averaged components and phase-averaged components. The pressure comparisons show that the calculated results are in a good agreement with experimental data.