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Study on dynamic docking process and collision problems of captured-rod docking method
Meng LS(孟令帅)1,2,3; Lin Y(林扬)1; Gu HT(谷海涛)1; Su, Tsung-Chow4
Department海洋信息技术装备中心
Source PublicationOcean Engineering
ISSN0029-8018
2019
Volume193Pages:1-11
Indexed ByEI
EI Accession number20194407593420
Contribution Rank1
Funding OrganizationInnovation Fund from Chinese Anatomical Society with Grant No. CXJJ-17-M130 and the advance research fund of science and technology with Grant No.3020605040302
KeywordCaptured-rod Underwater docking Computational fluid dynamics (CFD) Hydrodynamics Deformation and collision
AbstractUnderwater docking is currently a key technology for supplementing energy and self-recovery of autonomous underwater vehicles(AUVs). Three types of docking methods are introduced first. The captured-rod docking method is selected for this research effort, and its mechanical properties are analyzed. A Remus100 and a captured-rod with a radius of 50 mm are used to simulate the dynamic underwater docking and collision processes. The theoretical model analysis of deformation and collision of the captured-rod is carried out. Finally, a portable AUV is tested for collisions under different conditions. Through simulation and test, we found that there is a Karman vortex behind the captured-rod. When Remus100 approaches the captured-rod and the distance between them is less than a certain value, the captured-rod's wake will have an influence on the forces on the Remus100. The degree of influence positively correlates with the current's velocity. The lateral and vertical forces on the Remus100 are more susceptible to the captured-rod's wake, and are affected by the captured-rod's wake earlier. The collision force increases as the collision velocity increases, but the collision time is the opposite. We analyze and compare the results obtained by simulations, tests and theoretical model.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25872
Collection海洋信息技术装备中心
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Florida Atlantic University, Boca Raton, FL 33431, United States
Recommended Citation
GB/T 7714
Meng LS,Lin Y,Gu HT,et al. Study on dynamic docking process and collision problems of captured-rod docking method[J]. Ocean Engineering,2019,193:1-11.
APA Meng LS,Lin Y,Gu HT,&Su, Tsung-Chow.(2019).Study on dynamic docking process and collision problems of captured-rod docking method.Ocean Engineering,193,1-11.
MLA Meng LS,et al."Study on dynamic docking process and collision problems of captured-rod docking method".Ocean Engineering 193(2019):1-11.
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