AUV Hydrodynamics in Shallow Water During Adverse Weather Conditions.

摘要

LONG-TERM GOALS. My long-term goal is to contribute, by means of an accurate hydrodynamics model, to efficient design, development and operation of autonomous underwater vehicles in energetic shallow waters. From a scientific viewpoint, the development of the AUV hydrodynamic model will contribute to a better understanding of wave-body-current interactions, nonlinear shallow-water waves, wave effects on stability and maneuverability of vehicles, and turbulent flows about under-water and near-surface vehicles. OBJECTIVES. Existing hydrodynamics models used for the control of AUV motions are mostly based on the analysis of vehicle motion in infinite waters, i.e. in the absence of surface effects, originally developed for vehicle operations in deep- and mid-waters. These models are inadequate for AUV operations in shallow waters where boundary effects on the vehicle dynamics can be significant. The objective of the project, started in 1998, is to develop and test a robust hydrodynamics/dynamics model, including the effects of surface waves and bottom boundary, for the purpose of nowcasting and enhancing the performance of AUVs in shallow littoral waters. The hydrodynamics model will be of use even in deep-water applications as the AUVs have to continually operate close to the surface while seeking GPS fixes for navigation.