Experimental Verification of a Depth Controller using Model Predictive Control with Constraints onboard a Thruster Actuated AUV

In this work a depth and pitch controller for an autonomous underwater vehicle (AUV) is developed. This controller uses the model predictive control method to manoeuvre the vehicle whilst operating within the defined constraints of the AUV actuators. Experimental results are given for the AUV performing a step change in depth whilst maintaining zero pitch

Design and Control of a Flight-Style AUV with Hovering Capability

The small flight-style Delphin AUV is designed to evaluate the performance of a long range survey AUV with the additional capability to hover and manoeuvre at slow speed. Delphin’s hull form is based on a scaled version of Autosub6000, and in addition to the main thruster and control surfaces at the rear of the vehicle, Delphin is equipped with four rim driven tunnel thrusters. In order to reduce the development cycle time, Delphin was designed to use commercial-off-the-shelf (COTS) sensors and thrusters interfaced to a standard PC motherboard running the control software within the MS Windows environment. To further simplify the development, the autonomy system uses the State-Flow Toolbox within the Matlab/Simulink environment. While the autonomy software is running, image processing routines are used for obstacle avoidance and target tracking, within the commercial Scorpion Vision software. This runs as a parallel thread and passes results to Matlab via the TCP/IP communication protocol. The COTS based development approach has proved effective. However, a powerful PC is required to effectively run Matlab and Simulink, and, due to the nature of the Windows environment, it is impossible to run the control in hard real-time. The autonomy system will be recoded to run under the Matlab Windows Real-Time Windows Target in the near future. Experimental results are used to demonstrating the performance and current capabilities of the vehicle are presented

Towards passive station holding of autonomous underwater vehicles inspired by fish behaviour in unsteady flows

Some species of fish are able to alter their mode of swimming to interact with naturally produced vortices; the use of these gaits reduces the energy expended by the fish. To analyse the feasibility of autonomous underwater vehicles (AUV) replicating these gaits, a series of experiments are performed with unpowered rigid and flexible bodies positioned in the Kármán wake of a rigid cylinder. Simple motion capture techniques are used to capture the bodies’ lateral and upstream motion in the flow. The results demonstrate that manufactured bodies are capable of passively mimicking fish behaviours, to a limited extent. More importantly, it was concluded that while significant upstream movement was possible for a manufactured object, it was achievable irrespective of the stiffness of the material. For AUVs operating in unsteady flow regimes an ability to utilise energy saving gaits may improve the range or operational time

Rapid prototyping of flexible models - a new methods for model testing?

To date hydroelastic towing tank models are generally segmented, flexible backbone or hinged models which provide an extremely limited representation of the ship structure and record loads only at a finite number of locations between segments. Fully flexible “hydro-structural” models, whilst providing a more accurate structural representation are rarely used due to expense and the complicated nature of their construction. Rapid prototyping is a powerful tool the potential of which is yet to be exploited in the marine industry. By using it to manufacture a realistic ship structure from materials of different properties, new model manufacturing paradigms may be explored. The focus of this paper is the initial findings from an investigation of the use of three-dimensional (3D) printing technologies for manufacturing structurally accurate flexible towing tank models. A detailed assessment is carried out of the material properties of 3D printed materials and their ability to model the scaled structural behaviour of a ship. Scaling implications when considering the realistic ship structure are presented and practical considerations for the construction of 3D printed towing tank models are discussed

Experimental investigation of the influence of floodwater due to ship grounding on motions and global loads

High profile collision and grounding incidents show that safety standards for ships need improvement to ensure ship survivability and reduce the potential for loss of life. An experimental investigation into the influence of floodwater, and transient flooding on the motions and structural response of a ship hull following a grounding incident is presented. Results show that floodwater can have a significant effect on the magnitude of ship responses; testing of the transient flooding case provides the opportunity to quantify the magnitude of these changes as well as the time to flood by provision of intact and flooded data during a single test. The movement of the floodwater free surface shows some substantial second order sloshing effects when close to the ship peak response, but little movement in higher frequency waves. Comparisons to classification design rules indicate that there is scope for further assessment of safety margins, including investigation of global responses in conjunction with any local loading due to the presence of floodwater. Future work will look at improving the modelling of the floodwater free surface and carrying out further transient flooding testing in order to better quantify the effect of a ship grounding incident on the survivability of a vessel

From Storage and Retrieval of Pulses to Adiabatons

We investigate whether it is possible to store and retrieve the intense probe pulse from a $\Lambda$-type homogeneous medium of cold atoms. Through numerical simulations we show that it is possible to store and retrieve the probe pulse which are not necessarily weak. As the intensity of the probe pulse increases, the retrieved pulse remains a replica of the original pulse, however there is overall broadening and loss of the intensity. These effects can be understood in terms of the dependence of absorption on the intensity of the probe. We include the dynamics of the control field, which becomes especially important as the intensity of the probe pulse increases. We use the theory of adiabatons [Grobe {\it et al.} Phys. Rev. Lett. {\bf 73}, 3183 (1994)] to understand the storage and retrieval of light pulses at moderate powers.Comment: 15 pages, 7 figures, typed in RevTe

Slow Light in Doppler Broadened Two level Systems

We show that the propagation of light in a Doppler broadened medium can be slowed down considerably eventhough such medium exhibits very flat dispersion. The slowing down is achieved by the application of a saturating counter propagating beam that produces a hole in the inhomogeneous line shape. In atomic vapors, we calculate group indices of the order of 10^3. The calculations include all coherence effects.Comment: 6 pages, 5 figure

Storing and releasing light in a gas of moving atoms

We propose a scheme of storing and releasing pulses or cw beams of light in a moving atomic medium illuminated by two stationary and spatially separated control lasers. The method is based on electromagnetically induced transparency (EIT) but in contrast to previous schemes, storage and retrieval of the probe pulse can be achieved at different locations and without switching off the control laser.Comment: 4 pages, 3 figures, revised versio

On the Strong Scalability of Maritime CFD

Since 2004, supercomputer growth hasbeen constrained by energy efficiency rather than raw hardware speeds. Tomaintain exponential growth of overall computing power, a massive growth inparallelization is under way. To keep up with these changes, computationalfluid dynamics (CFD) must improve its strong scalability – its ability tohandle lower cells-per-core ratios and achieve finer-grain parallelization. Amaritime-focused, unstructured, finite-volume code (ReFRESCO) is used toinvestigate the scalability problems for incompressible, viscous CFD using two classicaltest-cases. Existing research suggests that the linear equation-system solveris the main bottleneck to incompressible codes, due to the stiff Poisson pressure equation. Here, these results are expandedby analysing the reasons for this poor scalability. In particular, a number ofalternative linear solvers and preconditioners are tested to determine if thescalability problem can be circumvented, including GMRES, Pipelined-GMRES,Flexible-GMRES and BCGS. Conventional block-wise preconditioners are tested,along with multi-grid preconditioners and smoothers in various configurations.Memory-bandwidth constraints and global communication patterns are found to bethe main bottleneck, and no state-of-the-art solution techniques which solve thestrong-scalability problem satisfactorily could be found. There is significantincentive for more research and development in this area

Chaotic multigrid methods for the solution of elliptic equations

Supercomputer power has been doubling approximately every 14 months for several decades, increasing the capabilities of scientific modelling at a similar rate. However, to utilize these machines effectively for applications such as computational fluid dynamics, improvements to strong scalability are required. Here, the particular focus is on semi-implicit, viscous-flow CFD, where the largest bottleneck to strong scalability is the parallel solution of the linear pressure-correction equation — an elliptic Poisson equation. State-of-the-art linear solvers, such as Krylov subspace or multigrid methods, provide excellent numerical performance for elliptic equations, but do not scale efficiently due to frequent synchronization between processes. Complete desynchronization is possible for basic, Jacobi-like solvers using the theory of ‘chaotic relaxations’. These non-deterministic, chaotic solvers scale superbly, as demonstrated herein, but lack the numerical performance to converge elliptic equations — even with the relatively lax convergence requirements of the example CFD application. However, these chaotic principles can also be applied to multigrid solvers. In this paper, a ‘chaotic-cycle’ algebraic multigrid method is described and implemented as an open-source library. It is tested on a model Poisson equation, and also within the context of CFD. Two CFD test cases are used: the canonical lid-driven cavity flow and the flow simulation of a ship (KVLCC2). The chaotic-cycle multigrid shows good scalability and numerical performance compared to classical V-, W- and F-cycles. On 2048 cores the chaotic-cycle multigrid solver performs up to faster than Flexible-GMRES and faster than classical V-cycle multigrid. Further improvements to chaotic-cycle multigrid can be made, relating to coarse-grid communications and desynchronized residual computations. It is expected that the chaotic-cycle multigrid could be applied to other scientific fields, wherever a scalable elliptic-equation solver is required