Fluid Structure Interactions Research Group, School of Engineering Sciences

Evolution of an AUV Design Strategy

K. Rutherford
School of Engineering Sciences, University of Southampton, UK

Introduction
Research Progress
Previous work examined an alternative energy source, and modelled different AUV hull shapes using computational fluid dynamics. These two subsystems have a large effect on the design and performance of the AUV, but there are other areas which affect the AUV design. Current work explores these areas, detailing how they affect the AUV, energy source or hull shape. All these design areas, including their constraints and effects, are then integrated by a design methodology to produce a conceptual AUV.

Payload
The AUV has to carry a payload in order to fulfil its mission. This payload will require power from the energy source, have a finite mass, and be packed dependant on its purpose. For example a CTD will require water interaction, and bottom profilers require separation between transmitter and receiver.

Buoyancy Foam
An AUV has to displace the same mass of water as AUV mass. There is a mass budget associated with a given AUV volume. The hull shape will often include free flooding areas, such that the displacement is the sum of internal components, not the outer hull shape.

Internal Structure
AUV space frame facilitates mounting of motors, control planes and pipe work. These Items can be very limited in terms of their placement position within the AUV.

Navigation
Sensors are required for the AUV to be aware of its surroundings. For example an Echosounder needs to be at the bottom of the AUV to detect the seabed.

All energy for powering the AUV has to come from an onboard energy source. Improved endurance can be achieved by increasing energy density (J kg-1) or decreasing protective structural mass. Lithium polymer batteries have a high energy density and do not require a protective pressure vessel.

Energy Source

Pressure Vessels
The pressure vessel provides a space at Atmospheric pressure, protecting pressure sensitive components. The mass of the pressure vessel increases with diving depth, such that for a deep diving AUV, the pressure vessel is negatively buoyant and requires additional buoyancy.

The Design Process

From a list of sub-systems, including payload, pressure sensitive components, energy source, structural components, and their constraints, the design engineer has to arrange, balance and select a candidate AUV to fulfil intended purpose. Organising all the sub-systems into a minimum volume becomes a packing problem. As an AUV is a 3D problem with irregular shapes, it is outside the scope of linear programming problems. A new methodology was created that could be automated given a set of rules.
i. Axial constraint: To make a rotationally symmetric AUV, each sub-system will be placed along a single axis. ii. Maximum radius: The sub-system with the largest radius will define the AUV maximum radius. iii. Maximum length: Each sub-system will touch another, such that the maximum length is given by a end on end string of subsystems.

Mission objectives Payload and and navigation components Select energy source and size

Create pressure vessel for sensitive components

A Matlab script has been created that will create all possible arrangements from a finite list of sub-systems. The volume of foam is then calculated and the required axial position of the foam found (Fig.1.) The overall centre of gravity of the vehicle must be directly below the overall centre of buoyancy, else the vehicle will roll or pitch. The foam is assumed to surround a Sub-system, so foam can ignore constraint i, but not alter constraint ii, and must fulfil constraint iii.
Leverfoam

Sub-system list Generate possible subsystem arrangements Find buoyancy volume and position

Filtered sub-system arrangements

Subsystem arrangement with unique Centre of Buoyancy and Centre of Gravity. Shapeless volume of foam to be added at an unknown position (LeverFoam).

Fig. 1. Finding position of Foam given unique arrangement of sub-systems

Apply hydrodynamic constraints

Select arrangement and test against mission objectives

Selection of AUV Envelope

For different conceived missions, internal arrangement of sub-systems and foam to fulfil required constraints has been completed. Next the outer shape of the vehicle is determined. Hydrodynamics will impose further constraints on the AUV external shape and location of the sub-systems and foam. For example, placing a large diameter sub-system near the motor will impose a sharp stern gradient, and so may lead to adverse pressure gradients and flow separation, increasing the drag of the vehicle.

If AUV fulfils Mission objectives, move to detailed design. If not, iterate design and reconsider constraints

Acknowledgements
Academic Supervisor: Prof. Grant Hearn. Industrial Supervisor: Prof. Gwyn Griffiths.

Southampton University Engineering Doctorate