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The development of robust control algorithms for the position, velocity and trajectory control of unmanned underwater vehicles (UUVs) depends on the accuracy of their mathematical models. Accuracy of the model is determined by precise estimation of the UUV hydrodynamic parameters. The purpose of this study is to determine the hydrodynamic forces and moments acting on an underwater vehicle with complex body geometry and moving at low speeds and to achieve the accurate coefficients associated with them.

A three-dimensional (3D) computer-aided design (CAD) model of UUV is designed with one-to-one dimensions. 3D fluid flow simulations are conducted using computational fluid dynamics (CFD) software programme in the solution of Navier Stokes equations for laminar and turbulent flow analysis. The coefficients depending on the hydrodynamic forces and moments are determined by the external flow analysis using the CFD programme. The Flow Simulation k-ε turbulence model is used for the transition from laminar flow to turbulent flow. Hydrodynamic properties such as lift and drag coefficients and roll and yaw moment coefficients are calculated. The parameters are compared with the coefficient values found by experimental methods.

Although the modular type UUV has a complex body geometry, the comparative results of the experiments and simulations confirm that the defined model parameters are accurate and close to the actual experimental values. In the proposed k-ε method, the percentage error in the estimation of drag and lifting coefficients is decreased to 4.2% and 8.39%, respectively.

The model coefficients determined in this study can be used in high-level control simulations which leads to the development of robust real-time controllers for complex-shaped modular UUVs.

The Lucky Fin UUV with 4 degrees of freedom is a specific design and its CAD model is first extracted. Verification of simulation results by experiments is generally less referenced in studies. However, it provides more precise parameter identification of the model. Proposed study offers a simple and low-cost experimental measurement method for verification of the hydrodynamic parameters. The extracted model and coefficients are worthwhile references for the analysis of modular type UUVs.

The purpose of this paper is to derive linear modal equations describing the forced liquid sloshing in a rigid truncated (tapered) conical tank, as well as to show how to couple these modal equations with “global” dynamic equations of a complex mechanical system carrying this tank.

Derivation of the modal equations can be based on the Trefftz variational method developed by the authors in a previous paper. Describing the coupled dynamics utilizes Lukovsky' formulas for the resulting hydrodynamic force and moment due to liquid sloshing.

The so‐called Stokes‐Joukowski potentials can be found by using the Trefftz method from the authors' previous paper with the same polynomial‐type functional basis. Coupling the modal equations with the global dynamic equations becomes a relatively simple task facilitated by Lukovsky's formulas. Using the linear multimodal method can be an efficient alternative to traditional numerical and analytical tools employed for studying the coupled vibrations of a tower with a conical rigid tank on the tower top.

The derived modal equations are equipped by tables with the computed non‐dimensional hydrodynamic coefficients. Interested readers (engineers) can incorporate the modal equations into the global dynamic equations of a whole mechanical system without new computations of these coefficients.

The multimodal method can be an alternative to traditional numerical tools. Using the derived modal equations simplifies analytical studies and provides efficient calculations of the coupled dynamics of a mechanical system carrying a rigid tapered conical tank with a liquid.

Hydrodynamic forces and efficiency of bare propeller and ducted propellers with a wide range of advance ratio (J) and attack angle (θ) are examined. The thrust and torque coefficients and the efficiency are presented and discussed in detail. The present results give a reliable guidance to the improvement of the hydrodynamic characteristics of ducted propellers.

The effect of a duct on the hydrodynamic performance of the KP458 propeller is numerically investigated in this study. Finite volume method (FVM)-based simulations are performed for a wide range of advance ratio J (0 ≤ J ≤ 0.75) and attack angle θ of the duct (15° ≤ θ ≤ 45°). A cubic computational domain is employed in this study, and the moving reference frame (MRF) approach is adopted to handle the rotation of the propeller. Turbulence is accounted for with the RNG k-ε model. The present numerical results are first compared against available experimental data and a good agreement is achieved.

The simulation results demonstrate that the hydrodynamic forces and efficiency increases and decreases with J, respectively, at the same attack angle. In addition, it is demonstrated that the hydrodynamic forces and efficiency are both improved due to the presence of the duct, which eventually leads a better hydrodynamic performance at high advance ratios. It is further revealed that as the attack angle increases, the pressure difference between the suction- and pressure-surfaces of the propeller is also augmented, which results in a larger thrust. The wake field is more uniform at θ = 30°, suggesting that a higher efficiency can be obtained.

The present study aims to investigate the effect of a duct on the KP458 propeller subjected to uniform inbound flow. The relationship between the uniform incoming flow and the attack angle of the duct is mainly focused, and the design of the ducted propellers for any ship hull can be improved according to this relationship.

This paper aims to propose a novel design concept for a biomimetic dolphin-like underwater glider, which can offer the advantages of both robotic dolphins and underwater gliders to achieve high-maneuverability, high-speed and long-distance motions.

To testify the gliding capability of dolphin-like robot without traditional internal movable masses, the authors first developed a skilled and simple dolphin-like prototype with only gliding capability. The hydrodynamic coefficients, including lift, drag and pitching moment, are obtained through computational fluid dynamics method, and the hydrodynamic analysis in the steady gliding motion is also executed.

Experimental results have shown that the dolphin-like glider could successfully glide depending on the pitching torques only from buoyancy-driven system and controllable fins without traditional internal moveable masses.

A hybrid underwater glider scheme that combines robotic dolphin and glider is firstly proposed, shedding light on the creation of innovation gliders with maneuverability and durability.

The purpose of this paper is to mainly review the state-of-the-art developments in the field of hydrodynamics of offshore pipelines, identifying the key tools for analysis of pipeline free spans, their applications, their qualifying characteristics and capabilities and limitations.

These different analytical, numerical and semi-empirical tools available for predicting such hydrodynamic loads and their effects include VIVANA, PIPESIN, VIVSIM, SIMULATOR, FATFREE, amongst others. Inherent in these models are current effects, wave effects and/ or pipe–soil interactions.

Amongst these models, the most attention was given to the new VIVANA model because this model take into account the vortex-induced effects with respect to free-spanning pipelines (which have dominant effect in the span analysis in deep water) better than other semi-empirical models (such as Shear 7). Recent improvements in VIVANA include its ability to have arbitrary variation in speed and direction of current, as well as the ability for calculation of pure IL and combined IL-CF response. Improvements in fatigue assessments at free spans, i.e. pipe–soil interaction have been achieved through the combined frequency domain and non-linear time domain analysis methodology adopted. Semi-empirical models are still the de facto currently used in the design of free-spanning pipelines. However, there is need for further research on free-span hydrodynamic coefficients and on how in-line and cross-flow vibrations interact. Again, there is still the challenge due to VIV complexity in fully understanding the fluid structure interaction problem, as there is no consolidated procedure for its analysis. It has been observed that there is large scatter between the different codes adopted in the prediction of fatigue damage, as there lacks full-scale test data devoted to determination/validation of the coefficients used in the semi-empirical models. A case study of the preliminary design of a typical 48 in. pipeline has been presented in this study to demonstrate the use of the free-span analysis tool, DNV RP F105. Excel spreadsheet has been applied in the execution of formulas.

This review paper is the first of its kind to study the state-of-the-art development in pipeline free-span analysis models and demonstrate the use of analysis tool, DNV for MAFSL calculation. Hence, information obtained from this paper would be invaluable in assisting designers both in the industry and academia.

Water-lubricated rubber bearing is one of the most appropriate bearings for underwater use. The most popular design used widely today is the straight fluted rubber bearing. The special configuration leads to partial hydrodynamic lubrication and low load capacity. A new bearing bush structure with two cavities which is favorable for constructing continuous hydrodynamic lubrication was designed and studied. The paper aims to discuss these issues.

A new bearing bush structure with two cavities which is favorable for constructing continuous hydrodynamic lubrication was designed. The apparatus for studying the tribological behaviors of the two types of water-lubricated rubber bearings has been devised and established in the paper. The experimental studies on the tribological properties of the rubber bearings have been conducted under different loads and velocities. The eccentricity ratio of the new structure rubber bearing with two cavities was measured in experiment and the load capacity was calculated by numerical simulation.

The experimental results show that the friction coefficient decreases with increasing velocity; the friction coefficient increases sharply with the rising temperature, the friction coefficient increases at first and then decreases with increasing load for fluted rubber bearings. The numerical results were in good agreement with the experimental results. The numerical results show that complete hydrodynamic lubrication can be formed in the new designed rubber bearing with two cavities. The experimental and numerical results all indicate that there is an appropriate bearing clearance which the friction coefficient is minimum and the load capacity is maximum.

A new bearing bush structure with two cavities which is beneficial to constructing continuous hydrodynamic lubrication film was designed. A new apparatus for studying the tribological behaviors of the two types of water-lubricated rubber bearings has been devised and established. Experimental and numerical study on the new structure rubber bearing were conducted in the paper.

This paper aims to identify the role of the wall slip on the dynamic characteristics of the multi-groove water-lubricated bearing considering rough contact, including stiffness and damping coefficients of the water film and contact stiffness coefficient of the asperity contact.

The modified perturbed average Reynolds equations with the wall slip are derived, and the calculated perturbed hydrodynamic pressures are integrated to obtain the stiffness and damping coefficients of the water film. The elastic-plastic contact model of Kogut and Etsion is used to determine the contact stiffness coefficient.

Numerical results reveal that the wall slip has the more significant impact on the water film stiffness coefficients compared with the damping and contact stiffness coefficients. When the slip angle lies in a reasonable range, the lubrication performance can be effectively improved, especially in the mixed lubrication condition. In addition, it is worth emphasizing that the abrupt change of the water film stiffness coefficients occurs at the region II (pressure zone) in this study.

The influence mechanism of the wall slip on the dynamic characteristics of the water-lubricated bearing considering rough contact is first revealed.

This paper aims to provide efficient methods to calculate the friction coefficients and film thickness ratios in mixed lubrication (ML) regime for water lubricated bearings. Mathematical models consider influence of micro-asperities contacts which is based on the Gauss random distribution.

Effects of external loads, rotating speeds and radial clearances are obtained. Algorithm shown here is applied to a class of common industrial problems. Calculated Stribeck values are given and evaluated. The calculated and experimental results agree well which proves the correctness of the model.

In Part I, the authors believe that the paper presents the following for the first time: universal methods are developed for the calculation of friction coefficients and film thickness ratios (lambda) in ML regime; effects of different external loads, rotating speeds and radial clearances on friction coefficients and film thickness ratios are presented in detail; comparisons are made between the results predicted by the model and experimental results, and they agree rather well which proves the correctness of the model.

Present work successfully develops universal methods for predicting the friction coefficients and film thickness ratios.

This paper aims to present a numerical model to investigate the mixed lubrication performances of journal-thrust coupled bearings (or coupled bearings).

The coupled hydrodynamic effect (or coupled effect) between the journal and the thrust bearing is considered by ensuring the continuity of the hydrodynamic pressure and the flow field at the common boundary. The mixed lubrication performances of the coupled bearing are comparatively studied for the cases of considering and not considering coupled effect.

The simulated results show that the hydrodynamic pressure distributions for both the journal and thrust bearing are modified due to the coupled effect. The decreased load capacity of the journal bearing and the increased load capacity of the thrust bearing can be observed when the coupled effect is considered. And the coupled effect can facilitate in reducing the asperity contact load for both the journal and thrust bearing. Additionally, the interaction between the mixed lubrication behaviors, especially for the friction coefficient, of the journal and the thrust bearing is significant in the elastohydrodynamic lubrication regime, while it becomes weak in the mixed lubrication regime.

The developed model can reveal the mutual effects of the mixed lubrication behavior between the journal and the thrust bearing.

This paper aims to numerically investigate the surface texturing effects on the main bearings of a three-cylinder ethanol engine in terms of the power loss and friction coefficient for dynamic load conditions.

The mathematical formulation considers the Partir-Cheng modified Reynolds equation. The mass-conserving Elrod-Adams p-θ model with the JFO approach is used to deal with cavitation. A fluid-structure coupling procedure is considered for the elastohydrodynamic lubrication. Accordingly, a 3-D linear-elastic substructured finite element model obtained from Abaqus is applied

Simulations were carried out considering different dimple texture designs in terms of location, depth and radius. The results suggested that there are regions where texturing is more effective. In addition, distinct journal rotation speeds are studied and the surface texture was able to reduce friction and the power loss by 7%.

The surface texturing can be a useful technique to reduce the power loss on the crankshaft bearing increasing the overall engine efficiency.

The surface texturing performance in a three-cylinder engine using ethanol as fuel was investigated through numerical experimentation. The results are supported by previous findings.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-09-2019-0380/