Recovery of an Autonomous Underwater Vehicle by jumping out of the water like a penguin

This reports outlines the results of an investigation into the feasibility of recovery by jumping on a platform like a penguin, compared to performance of existing recovery systems. The enquiry begins by introducing the model that has been developed to simulate the hydrodynamics of the AUV, including the implementation of water exit and orbital wave, to preview the impact that water-exit and waves have on the dynamics of the vehicle. Secondly, the desired exit velocity and angle of the AUV for a successful jump were determined. It was observed that water exit effects have a large influence on the dynamics of the vehicle. Then, several types of landing platform were compared. It was observed that wave incidence angle; significant wave height; wave period and the type of platform have great impact on the probability of making the jump. The results showed that a jump at an desired exit angle of 60 degrees with a desired exit velocity of 8.6 m/s , with a wave incidence of 90 degrees, and landing on the swimming platform at the aft of a MCMV offered the best chance of a successful landing. An AUV with these specific demands was lastly subjected to different conditions, e.g. several wave significant wave heights and significant wave periods. In this way, the probability of making a successful jump under different environmental conditions was determined to be 73% for the simulated cases which represents 70% of the time.

Subject

launch and recovery
water exit
AUV
Autonomous Underwater Vehicle
REMUS100
orbital wave
hydrodynamic

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master thesis

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