Studies of ROV concepts 2015 - 2017
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25 - Design and Control of Underwater Robots with Rotating Thrusters.
Date of publication: 2016 Authors: Ali Jebelli, M. C.E. Yagoub, B. S. Dhillon. Abstract: Underwater robots design involves critical control issues due to complex non-linear forces. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom, also by designing a new type of thruster with the ability of 360 degrees rotation along with a mass shifter. That gives the possibility to easily change the machine depth, preserving its balance and saving energy.
1 - Simulating underwater depth environment condition using lighting system design.
Date of publication: 2015 Authors: Mohd Shahrieel Mohd Aras, Fadilah Abdul Azis, Syed Mohamad Shazali Syed Abdul Hamid, Saiful Edwend Daswir, Fara Ashikin Ali. The major obstacle faced by the underwater environment system is the extreme loss of color and contrast when submerged to any significant depth whereby the image quality produced is low. The studies can be easily done by developing a prototype that may imitate the underwater environment.
28 - Development of Handheld Haptics Device for Driving System of Unmanned Underwater Vehicles.
Date of publication: 2017 Author: Syed Mohamad Shazali Abstract: This paper presents research to illustrate the hydrodynamic force impact on the orientation of a Remotely Operated Underwater Vehicle (ROV) operating underwater by providing kinaesthetic haptic feedback to its handheld steering device. A literature review was done on the haptic feedback available to ROV pilots and how it could be delivered through a handheld device to understand how this aim can be achieved.
43 - Analysis of integrated sensor for unmanned underwater vehicle application.
Date of publication: 2017 Authors: Mohd Shahrieel Mohd Aras, Muhammad Nizam Kamarudin, Iktisyam Zainal, Mohd Khairi Mohd Zambri & Marizan Sulaiman. Abstract: This paper presents an integrated sensor system to be applied in underwater vehicles based on 5-DOF Inertial Measurement Unit (IMU) sensor, MPX pressure sensor, and temperature sensor.
9 - DNV-GL: Part 5 Types of UWT systems Chapter 7 Remotely operated vehicles
Date of publication: 2015 Authors: DNV Scope: These rules are valid for the construction of remotely operated vehicles (ROV) which shall be classified by the Society, including their operating and monitoring systems. Unmanned underwater vehicles (UUV) may be (ROV) or autonomous underwater vehicles (AUV).
32 - P2-ROV a Portable/Polar ROV
Date of publication: 2017 Authors: Angelo Odetti, Giorgio Bruzzone, Massimo Caccia, Edoardo Spirandelli, & Gabriele Bruzzone Abstract: P2-ROV is a portable polar ROV. Designed to be transported via-helicopter and easily handled by a small team of scientists it is specially addressed to work under the shelf ice of Antarctica by exploiting the holes drilled in the ice by means of a special 350 mm auger; the shape of the vehicle reminds that of a torpedo contained in a 340 mm diameter.
39 - The ROV communication and control
Date of publication: 2017 Authors: Alin Ghilezan, Mihaela Hnatiuc. Abstract: The opportunity for the future engineers for direct hands- on work in projects and the liberty of trying their solutions and to apply personal ideas with a large variety of electronic components, it will lead to a progress in everyday life for the future generations. In this paper we present a remote controlled ROV (Remotely Operated Vehicle) based on Arduino Mega 2560 microcontroller which acquired the sensors data and controls the direction and acceleration.
3 - Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems.
Authors: Houssam Albitar, Kinan Dandan, Anani Ananiev, and Ivan Kalaykov. Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using lightweight technics.
33 - A new redundancy resolution for underwater vehicle– manipulator system considering payload
Authors: Yaoyao Wang, Surong Jiang, Fei Yan, Linyi Gu, and Bai Chen A new redundancy resolution method is proposed and investigated for motion coordination problems between the underwater vehicle and the manipulator of the underwater vehicle–manipulator system. The proposed method mainly has two parts: a fuzzy logic part and a multitasks weighted gradient projection method part.
42 - A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters.
Authors: Yang Luo, Jianguo Tao, Hao Sun, Zhuang Hao, Hao Li, Qiang Na, Haibo Gao, Liang Ding, and Zongquan Deng. This article explains a novel localization approach incorporating attitude and heading reference systems and underwater altimeters that accurately localize the underwater welding vehicles in spent fuel pools of the nuclear power stations. Different from the conventional underwater localization technologies, the presented localization approach is more suitable in cases of confined structured water areas.
10 - Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results.
Authors: Wei Peng Lin, Cheng Siong Chin, Leonard Chin Wai Looi, Jun Jie Lim, and Elvin Min Ee Teh. Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underwater vehicle (AUV) named AUVDH using a combination of software tools allows the prototyping process to be unified. This process provides systematic design from mechanical, hydrodynamics, dynamics modeling, control system design, and simulation to testing in water.
22 - Towards omnidirectional immersion for ROV teleoperation
Authors: Josep Bosch, Pere Ridao, Rafael Garcia and Nuno Gracias The use of omnidirectional cameras underwater is enabling many new and exciting applications in multiple fields. Among them, it will allow Remotely Operated Underwater Vehicles (ROVs) to be piloted directly by means of the images captured by omnidirectional cameras through virtual reality (VR) headsets. This immersive experience will extend the pilot’s spatial awareness and reduce the usual orientation problems during missions. This paper presents this concept and illustrates it with the first experiments for achieving this purpose.
41 - A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice
Authors: Christian Katlein, Martin Schiller, Hans J. Belter, Veronica Coppolaro, David Wenslandt, and Marcel Nicolaus To increase the observational capabilities of sea ice scientists, the authors equipped a remotely operated vehicle (ROV) as sensor platform for interdisciplinary research at the ice water interface. This document presents the technical details and operation scheme of the new vehicle and provide data examples from a first campaign in the Arctic in autumn 2016 to demonstrate the vehicle’s capabilities.
2 - Unveiling the morphology of the acetabulum in octopus suckers and its role in attachment
Authors: Francesca Tramacere, Nicola M. Pugno, Michael J. Kuba and Barbara Mazzolai The attachment mechanism of the octopus's sucker has attracted the interest of scientists from different research areas, including biology, engineering, medicine, and robotics. From a technological perspective, the main goal is to identify the underlying mechanisms involved in sucker attachment for use in the development of new generations of artificial devices and materials. Recently, the understanding of the morphology of the sucker has significantly improved; however, the mechanisms that allow attachment remain largely unknown. This work presents new anatomical findings.
4 - From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model
Date of publication: 2015 Authors: Auke Jan Ijspeert, Alessandro Crespi, Dimitri Ryczko, Jean-Marie Cabelguen The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. The authors present a spinal cord model and its implementation in an amphibious salamander robot, demonstrating how a primitive neural circuit for swimming can be extended. The model suggests neural mechanisms for the modulation of velocity, direction, and type of gait that are relevant for all tetrapods.
6 - Identification of an Autonomous Underwater Vehicle Dynamic Using Extended Kalman Filter with ARMA Noise Model
Date of publication: 2015 Authors: Mehdi Zare Ernani, Mohammad Bozorg, and Saeed Ebrahimi In designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with reasonable accuracy. This study identifies hydrodynamic coefficients of an autonomous underwater vehicle (AUV) using velocity and displacement measurements and implementing an Extended Kalman Filter (EKF) estimator.
7 - Numerical investigation of the hydrodynamic interaction between twounderwater bodies in relative motion
Date of publication: 2015 Authors: S.A.T. Randeni, Z.Q. Leong A, D. Ranmuthugala, A.L. Forrest, J. Duffy In an aim to predict the manoeuvring performance of an AUV under the effects of interaction, the Australian Maritime College (AMC) has conducted a series of computer simulations and captive model experiments.
8 - Octopus-inspired Multi-arm Robotic Swimming
Date of publication: 2015 Authors: M Sfakiotakis, A Kazakidi, and D P Tsakiris The outstanding locomotor and manipulation characteristics of the Octopuses have recently inspired the development, by our group, of multifunctional robotic swimmers featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. In this work, the authors approximate the complex pattern of arm motion with a sculling-like profile, involving a fast power stroke and a slow recovery stroke.
11 - Cephalopod-inspired soft robots: design criteria and modelling frameworks.
Date of publication: 2015 Authors: Francesco Giorgio-Serchi, Federico Renda, and Cecilia Laschi Cephalopods are being used as a source of inspiration for the development of a new type of underwater soft robot. These cephalopod-inspired, soft-bodied vehicles entail a hollow, elastic shell capable of performing a routine of recursive ingestion and expulsion of discrete slugs of fluids through the actual inflation and deflation of the elastic chamber. .
12 - The suction pad attachment is enhanced by spinule friction
Authors: Michael Beckert, Brooke E. Flammang and Jason H. Nadler Remora fish are capable of adhering to a wide variety of natural and artificial marine substrates using a dorsal suction pad. The pad is made of serial parallel pectinated lamellae, which are homologous to the dorsal fin elements of other fish. In this work, the geometry of the spinules and host topology, as determined by micro-computed tomography and confocal microscope data, respectively, are combined in a friction model to estimate the spinules' contribution to shear resistance.
13 - Artificial fish skin of self-powered micro-electromechanical systems hair Cells for sensing hydrodynamic flow phenomena
Date of publication: 2015 Authors: Mohsen Asadnia, Ajay Giri Prakash Kottapalli, Jianmin Miao, Majid Ebrahimi Warkiani, and Michael S. Triantafyllou Using biological sensors, aquatic animals like fish are capable of performing impressive behaviors, such as super-maneuverability, hydrodynamic flow “vision," and object localization with a success unmatched by human- engineered technologies. Inspired by the multiple functionalities of the ubiquitous lateral-line sensors of fish, the authors have developed flexible and surface- mountable arrays of icroelectromechanical systems (MEMS) artificial hair cell flow sensors.
14 - Modeling cephalopod-inspired pulsed-jet Locomotion for Underwater Soft Robots
Date of publication: 2015 Authors: F. Renda, F. Giorgio-Serchi, F. Boyer, C. Laschi Cephalopods are being looked upon as a source of inspiration for the development of unmanned underwater vehicles. One kind of cephalopod-inspired, soft-bodied vehicle developed by the authors entails a hollow, elastic shell capable of performing a routine of recursive ingestion and expulsion of discrete slugs of fluids which enable the vehicle to propel itself in water. The vehicle performances were found to depend largely on the elastic response of the shell to the actuation cycle, thus motivating the development of a coupled propulsion- elastodynamics model of such vehicles.
15 - Closing the gap between industrial robots and underwater manipulators.
Date of publication: 2015 Authors: Satja Sivcev, Joseph Coleman, David Adley, Gerard Dooly, Edin Omerdic, Daniel Toal Underwater robot manipulators mounted on work-class ROVs are extensively used in a wide range of subsea intervention applications. Unlike the automated stationary robot arms used in factories, commercial underwater manipulators are teleoperated by a human pilot in the loop. The authors describe the investigation, and adaptation of robot manipulator servo control approaches commonly used for light assembly tasks in the industry and the transfer of these techniques to marine robotics.
16 - Developing and Testing an Anguilliform Robot Swimming with Theoretical High Hydrodynamic Efficiency
Date of publication: 2016 Authors: John B. Potts An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle that requires theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion is theorized to produce “wakeless” swimming within. This reactive swimming technique thrusts by accelerating the added mass near the body. The net circulation for the unsteady motion is theorized to be eliminated. The robot was designed to replicate the desired theoretical motion using control theory methods. Independent joint control was used due to hardware limitations.
17 - Autonomous Underwater Vehicle Motion Response: A Nonacoustic Tool for Blue Water Navigation
Date of publication: 2016 Authors: Supun A. T. Randeni, Alexander L. Forrest, Remo Cossu, and Zhi Quan Leong. Peter D. King, Dev Ranmuthugala This study analyzes the feasibility of incorporating a non- acoustic method to calculate the water velocity this method within the navigation system by investigating its accuracy at different turbulence levels of the water column.
18 - Soft Robotic Grippers for Biological Sampling on Deep Reefs
Authors: Kevin C. Galloway, Kaitlyn P. Becker, Brennan Phillips, Jordan Kirby, Stephen Licht, Dan Tchernov, Robert J. Wood and David F. Gruber This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep-sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance-matched to natural environments and to soft or fragile organisms.
19 - Biologically Inspired Robots in a New Dimension - A Review
Authors: Anil Antony Sequeira, Afeef Usman, Oommen Philip Tharakan, Mir Zeshan Ali This paper presents the state of art survey and future work to biologically inspired robots. Through decades people have constantly tried to emulate the appearance, portability, usefulness, astute operation, and intellect of fauna. This area of biological robots, having the name of biomimetics, has advanced from making stationary duplicates of human beings and other biological creatures as statues to the rise of robots that work with practical conduct.
20 - IFAC World Congress 2017 Invited Open Track Proposal: Marine and Maritime Robotics: Innovation and Challenges
Authors: E. Zereik, M. Bibuli, A. Pascoal, P. Ridao, and N. Miskovic Marine and maritime robotics are extremely actual and interesting research fields that pose formidable challenges both from a theoretical and practical standpoint. The complexity of the problems at hand requires a multifaceted approach to system analysis and design to exploit the use of methods and tools from dynamical systems theory, automatic control, networked systems, identification and estimation, computer vision, communications, sensing and measurements to yield practical systems capable of executing complex scientific and commercial missions at sea in an efficient and reliable manner.
21 - Phototactic guidance of a tissue-engineered soft-robotic ray
Authors: Sung-Jin Park, Mattia Gazzola, Kyung Soo Park, Shirley Park, Valentina Di Santo, Erin L. Blevins, Johan U. Lind, Patrick H. Campbell, Stephanie Dauth. Andrew K. Capulli, Francesco S. Pasqualini, Seungkuk Ahn, Alexander Cho, Hongyan Yuan, Ben M. Maoz, Ragu Vijaykumar, Jeong-Woo Choi, Karl Deisseroth, and George V. Lauder, L. Mahadevan, Kevin Kit Parker Inspired by the relatively simple morphological blueprint provided by batoid fish such as stingrays and skates, the authors created a biohybrid system that enables an artificial animal, a tissue-engineered ray, to swim and phototactically follow a light cue.
24 - A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish.
Date of publication: 2016 Authors: Guijie Liu, Anyi Wang, Xinbao Wang, and Peng Liu Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish.
26 - Simulation of the flow past a Circular Cylinder Using an Unsteady Panel Method
Date of publication: 2016 Author: Ramos García, Néstor; Sarlak Chivaee, Hamid Andersen, Søren Juhl Sørensen, Jens Nørkær In the present work, an in-house Unsteady Double Wake Model (USDWM) has been developed to simulate general flow problems behind bodies. The model is presented and used to simulate flows past a circular cylinder at subcritical, supercritical, and transcritical flows. The flow model is a two-dimensional panel method that uses the unsteady double wake technique to model flow separation and its dynamics. In the present work, the separation location is obtained from experimental data and fixed in time.
29 - Fast-moving, soft, electronic fish
Authors: Tiefeng Li, Guorui Li, Yiming Liang, Tingyu Cheng, Jing Dai, Xuxu Yang, Bangyuan Liu, Zedong Zeng, Zhilong Huang, Yingwu Luo, Tao Xie, and Wei Yang Soft robots driven by stimuli-responsive materials have unique advantages over conventional rigid robots, especially in their high adaptability for field exploration and seamless interaction with humans. The challenge lies in achieving self-powered soft robots with high mobility, environmental tolerance, and long endurance. The authors describe a soft electronic fish with a fully- integrated onboard system for power and remote control. .
31 - Development of a Flexible Artificial Lateral Line Canal System for Hydrodynamic Pressure Detection
Authors: Yonggang Jiang, Zhiqiang Ma, Jianchao Fu, and Deyuan Zhang Surface mounted “smart skin” can enhance the situational and environmental awareness of marine vehicles, which requires flexible, reliable, and lightweight hydrodynamic pressure sensors. Inspired by the lateral line canal system in fish, the authors developed an artificial lateral line (ALL) canal system by integrating cantilevered flow-sensing elements into a polydimethylsiloxane (PDMS) canal. Polypropylene and polyvinylidene fluoride (PVDF) layers were laminated together to form the cantilevered flow- sensing elements.
35 - Impact of arm morphology on the hydrodynamic behavior of a two-armed robotic marine vehicle
Authors: Asimina Kazakidi, Dimitris P. Tsakiris, John A. Ekaterinaris This paper explores the impact of bio-inspired arm morphology on underwater propulsion through an examination of the hydrodynamic forces generated and the corresponding complex vortical patterns in the wake of a novel two-arm underwater robotic swimmer inspired by the octopus' arm-swimming behavior.
36 - Broadband achromatic optical metasurface devices
Authors: Shuming Wang, Pin Chieh Wu, Vin-Cent Su, Yi-Chieh Lai, Cheng Hung Chu, Jia-Wern Chen, Shen-Hung Lu, Ji Chen, Beibei Xu, Chieh-Hsiung Kuan, Tao Li, Shining Zhu, and Din Ping Tsai. Due to the high phase dispersion of their building blocks, metasurfaces significantly suffer from large chromatic aberration. The authors propose a design principle to realize achromatic metasurface devices that successfully eliminate chromatic aberration over a continuous wavelength region from 1200 to 1680 nm for circularly- polarized incidences in a reflection scheme.
38 - Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators
Authors: Jun Shintake, Vito Cacucciolo, Herbert Shea, and Dario Floreano This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers, in which two DEAs are used in an antagonistic configuration, generating undulating fish-like motion.
40 - A biorobotic adhesive disc for underwater hitchhiking inspired by the remora suckerfish
Authors: Yueping Wang, Xingbang Yang, Yufeng Chen, Dylan K. Wainwright, Christopher P. Kenaley, Zheyuan Gong, Zemin Liu, Huan Liu, Juan Guan, Tianmiao Wang, James C. Weaver, Robert J. Wood, Li Wen The authors present the design of a biologically analogous, multimaterial biomimetic remora disc based on detailed morphological and kinematic investigations of the slender sharksucker.
45 - Improving the localization accuracy of AUVs operating in highly variable environmental conditions
Date of publication: 2017 Authors: Supun Anuradhitha Tilakeratne Randeni Pathiranachchilage The objective of this thesis is to contribute to Autonomous Underwater Vehicle (AUV) navigation by improving vehicle localization accuracy when Doppler Velocity Log (DVL) bottom-tracking is unavailable.
46 - The Underwater Swimming Manipulator - A Bio-Inspired Solution for Subsea Operations
Date of publication: 2017 Authors: J. Sverdrup-Thygeson, E. Kelasidi, K. Y. Pettersen, and J. T. Gravdahl The underwater swimming manipulator (USM) presented in this paper is an innovative, bio-inspired addition to the family of underwater robotic vehicles. The overall vision of the USM is to impact how inspection and light intervention tasks are performed significantly. In this paper, the authors discuss the most important applications of the USM and the main challenges related to modeling, guidance, and control of this innovative vehicle.
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23 - Soft Manipulators and Grippers: A Review
Authors: Josie Hughes, Utku Culha, Fabio Giardina, Fabian Guenther, Andre Rosendo, and Fumiya Iida This paper evaluates the materials,processes, actuation methods, and sensors used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and the paper concludes with a discussion of the potential impact of soft manipulators on industry and society. on industry and society.
37 - Learning Dynamics and Trajectory optimization for Octopus Inspired Soft Robotic Manipulators
Authors: Thomas George Thuruthel, Egidio Falotico, Federico Renda, and Cecilia Laschi This paper presents a machine learning-based approach for developing dynamic models for a soft robotic manipulator and a trajectory optimization method for predictive task space control of the manipulator. To the best of our knowledge, this is the first demonstration of a learned dynamic model and a derived task space controller for a soft robotic manipulator. The validation of the controller is performed on an octopus-inspired soft manipulator simulation, derived from a piecewise constant strain approximation.
44 - Deep Learning on Underwater Marine Object Detection: A Survey
Date of publication: 2017 Authors: MD Moniruzzaman, Syed Mohammed Shamsul Islam, Mohammed Bennamoun, Paul Lavery This paper systematically describes the use of deep learning for underwater image analysis in the recent past. The analysis approaches are categorised according to the object of detection, and the features and deep learning architectures used are highlighted. It is is concluded that there is a great potential for automation in the analysis of digital seabed imagery using deep neural networks, especially for seagrass detection and monitoring.
5 - Underwater Single-Beacon Localization: Optimal Trajectory Planning and Minimum-Energy Estimation
Authors: Margarida Pedro, David Moreno-Salinas, N. Crasta, Antonio Pascoal This paper addresses the challenges and methodologies involved in range-based marine vehicle positioning and target localization. Its aim is to provide guidelines for estimating marine vehicle positions using range measurements from acoustic beacons, develop vehicle trajectories that maximize the information available for positioning while avoiding collisions and adhering to maneuvering constraints, and propose numerical and analytical solutions for vehicle positioning and target localization.
27 - Integrated Motion Planning, Control, and Estimation for Range- Based Marine Vehicle Positioning and Target Localization
Authors: D. Moreno-Salinas, N. Crasta, M. Ribeiro, B. Bayat, A. M. Pascoal, J. Aranda This paper intends to describe a study on improving the accuracy of Autonomous Underwater Vehicle (AUV) localization systems using single-beacon, range-based methods. The study focuses on developing optimal trajectories for the AUV to enhance position estimates while meeting mission criteria. It introduces the use of the Fisher Information Matrix (FIM) as a performance index for comparing different trajectories. The research includes 2D and 3D navigation algorithms, addressing scenarios where the vehicle's initial position is uncertain, and incorporating depth measurements for 3D navigation.
30 - IPS – a vision aided navigation system
Authors: Anko Börner, Dirk Baumbach, Maximilian Buder, Andre Choinowski, Ines Ernst, Eugen Funk, Denis Grießbach, Adrian Schischmanow, Jürgen Wohlfeil and Sergey Zuev This study introduces and describes a new multi-sensor system developed by the German Aerospace Center (DLR) for ego localization, called the integrated positioning system (IPS). It explains the importance of ego localization for various tasks, the challenges faced when satellite-based navigation is unavailable, and how the IPS addresses these challenges. It also outlines the system's components, real- time operational capabilities, and the development process of this technology into a commercial product. .
34 - Effective depth of regular wave on submerged submarines and AUVs
Authors: Shuming W This article investigates the effective depth of waves on submarines, specifically identifying a safe operational depth for calm conditions. It defines the Wave Base at a depth of half the wavelength where wave effects become negligible. The study ultimately recommends a minimum depth for stable submarine operations, supported by Computational Fluid Dynamics (CFD) analysis using Flow- 3D software. The findings are relevant to Autonomous Underwater Vehicles (AUVs), research submersibles, and naval submarines.