AUV Hydrodynamics in Shallow Water During Adverse Weather Conditions.

摘要

My long-term goal is to contribute an accurate hydrodynamics model to the design and development of robust and efficient autonomous underwater vehicles for naval and oceanographic applications in littoral waters. From a scientific viewpoint, the development of the hydrodynamics model would also lead to a better understanding of wave-body-current interactions and turbulent flows about underwater and surface-vehicles. The hydrodynamics models used in the existing algorithms for controlling AUV motions are mostly based on the analysis of vehicle motion in infinite waters, i.e., not including the effects of surface waves and bottom boundary on the vehicle dynamics. These models are inadequate for AUV operations in shallow waters where the boundary effects are significant. The objective of this project 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 AUVs continually operate close to the surface while seeking GPS fixes for navigation purposes.