Polish Maritime Research, established in 1994

A Comparative Study of Biomimicry-Inspired Design Forms for Autonomous Underwater Vehicles

TANER Mesut, Kadri Turgut Gürsel — Tue, 12 Aug 2025 00:00:00 +0200

Constructing and surveying industrial projects in oil and natural gas resources and undersea pipelining, carrying out works in harbors, coastal and offshore infrastructure development, etc., necessitate geomorphological, geological, and geophysical as well oceanographic research at related offshore and/or coastal areas. These research activities are conducted by research vessels or small craft equipped for specific purposes, which depend on extensive labor. This research method generates high operating costs and conceals menaces to occupational safety and property due to the severe weather conditions at sea. Further, high-precision measurements onboard these ships cannot always function from the sea surface during such research projects. Hence, research institutions and organizations have intensively developed autonomous underwater vehicles (AUVs) for the last two decades.

This study aimed to select a proper form for autonomous underwater surveying vehicles under various AUV forms to be developed, which shall carry out examinations on the geomorphological, geological, and geophysical structure of the sea bottom and the Earth’s mantle as well as oceanographic purposes. Therefore, in this study, computational fluid dynamics (CFD) analyses of the DARPA (Defense Advanced Research Projects Agency) Suboff submarine model created were executed and the validation of the results obtained in these analyses was performed with those of the experiments of this DARPA Suboff model completed by Liu and Huan, 1998. After successful confirmation of the simulation results carried out using the commercial software STAR CCM+ (Simulation of Turbulent flow in Arbitrary Regions - Computational Continuum Mechanics, C++ based), the AUV forms were generated using the most used geometrical forms based on torpedo shapes; further, biomimicry methodology was utilized to develop models with minimal viscous resistance and energy consumption. Therefore, the following developed models with the same displacement were analyzed in the same manner, and the results obtained were discussed elaborately: Model of a mature goose-beaked whale (Ziphius cavirostris), a mature sperm whale (Physeter macrocephalus), a derived form of the submarine shark (Carcharodon carcharias, great white shark) and four biomimicry-inspired hybrid models as well four torpedo-shaped AUVs.

VALIDATION OF CONTROL OF COURSE AND DEPTH OF BIOMIMETIC UNDERWATER VEHICLE WITH TWO SIDE AND TWO TAIL FINS

Michał Przybylski — Tue, 12 Aug 2025 00:00:00 +0200

Underwater vehicles that mimic the movements of marine animals have gained popularity in recent years due to their potential for increased manoeuvrability and efficiency. However, optimizing the control systems of these vehicles for various underwater conditions remains a significant challenge due to different than usual propulsion system. This study is focused on control of course and depth of the mini CyberSeal, i.e. the biomimetic underwater vehicle equipped with two side and tail fins. A key contribution of this research is the mathematical model of the hydrodynamic forces generated by the biomimetic propulsion system. These forces have been measured experimentally at various oscillation frequencies and fin deflections, accurately representing the propulsion dynamics for simulation and control design. Two different control strategies were implemented to achieve effective manoeuvrability: a PID controller and a sliding mode controller (SMC). These controllers were designed to regulate the vehicle's depth and course, and their parameters were selected based on simulation results. The control strategies were verified by a comparative analysis of simulation and experimental results. The results indicate that the proposed mathematical model is sufficient to tune the controller based on simulation, and the experimental data confirm effective depth and course control.

Air Cushion Icebreaking Platforms: Innovative Approaches to Ice Destruction and Parameter Optimization

Tue, 12 Aug 2025 00:00:00 +0200

This article discusses innovative approaches to icebreaking and optimization parameters of Air Cushion Icebreaking Platforms (AC IBP). The study is conducted in the context of the need to ensure year-round navigation on northern rivers and potentially support Arctic expeditions. The primary method of icebreaking involves creating an air cavity under the ice, causing it to break under its own weight. The research employs both theoretical mathematical models and experimental data to determine the optimal parameters of AC IBP, such as the length and width of the air cushion, cushion pressure, and the power of the lifting complex. The research results demonstrate the high efficiency of AC IBP in breaking ice up to 400 mm thick, exceeding design specifications. Optimizing the AC IBP parameters allows achieving minimal energy consumption with maximum efficiency. Experimental tests confirm the reliability of the design and compliance with project specifications. Further research aims to improve the AC IBP design and expand its operational conditions.