Main Article Content
Abstract
The research intends to evaluate the variation in the resistance and the lift of a torpedo shaped AUV brought about by the wall effect inside the pipe as it moves out of the axis inside a water pipeline. Movement of an AUV at the axis of a pipe causes minimum resistance and lift forces, but when the AUV moves at a position parallel with the axis of the pipe (out of axis of the pipe), the hydrodynamic forces especially the lift force changes. The AUV must be able to move a float inside the pipe and perform non-contact inspection. In water pipes having limited diameters, there is the wall effect. The added resistance and the lift have to be calculated accurately, which is a necessary requirement for the determination of the vehicle speed, power demand, control, range and duration of the operation. According to the findings of this paper, when moving at the center of pipe the ratio of AUV diameter to pipe diameter is equal to 12. This value can be considered for the determination of "the critical pipe diameter" which gives zero resistance. The results of this study can be applied for torpedo movement inside the torpedo tube. The analysis is performed by the Flow Vision (V.2.3) software based on the CFD method and solving the RANS equations.
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References
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- Muramatsu M, Namiki N, Koyama R, Suga Y (2000), Autonomous mobile robot in pipe for piping operations. IEEE International Conference on Intelligent Robots and Systems 2166-2171.
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- Painumgal U, Thornton B, Tamaki U, Nose Y (2013), Positioning and Control of an AUV inside a water pipeline for non-contact inservice inspection. www.mtsjournal.org / Papers / PDFs/130503-241.pdf, Roh SG, Ryew SM, Yang JH, Choi HR (2001), Actively steerable in-pipe inspection robots for underground urban gas pipelines. IEEE International Conference on Robotics and Automation 1: 761-766.
- Roh SG, Choi HR (2005), Differential-drive inpipe robot for moving inside urban gas pipelines. IEEE Transactions on Robotics and Automation. 21(1): 1-17.
- Roman H, Pellegrino BA (1993), Pipe line crawling inspections: An Overview. IEEE Transactions on Energy Conversion 8(3): Sanieenezhad M (2003), An introduction to turbulent flow and turbulence modeling. CFD Group publication Iran.
- Seif MS (2012), Fluid Mechanics. Fadak publication, Iran.
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References
Hirose S, Ohno H, Mitsui T, Suyama K (1999), A direct pneumatic stepping motor for robots: Design of Inpipe Inspection Vehicles for ø25,ø50,ø150 pipes. IEEE International Conference on Robotics and Automation. 2309- 2314.
Joubert PN (2004), Some aspects of submarine design: part 1: Hydrodynamics, Australian Department of Defense.
Joubert PN (2004), Some aspects of submarine design: part 2: Shape of a Submarine 2026, Australian Department of Defense. Kormilitsin YN, Khalizev OA (2001), Theory of submarine design. Saint Petersburg State Maritime Technical University, Russia 185- 221.
Moghaddam M, Hadi A (2005), Control and guidance of a pipe inspection crawler (PIC), 22nd International Sysnposium on Automation and Robotics in Construction 1-5.
Moonesun M, Javadi M, Charmdooz P, Korol UM (2013), Evaluation of submarine model test in towing tank and comparison with CFD and experimental formulas for fully submerged resistance. Indian Journal of Geo- Marine Science 42(8): 1049-1056.
Moonesun M (2014), Introduction of Iranian hydrodynamic series of submarines (IHSS). J. of Taiwan Society of Naval Architecture and Marine Engineering 33(3): 155-162.
Moonesun M, Mikhailovich KY, Tahvildarzade D, Javadi M (2014), Practical scaling method for underwater hydrodynamic model test of submarine. J. of the Korean Society of Marine Engineering Vol. 38(10): 850~857.
Muramatsu M, Namiki N, Koyama R, Suga Y (2000), Autonomous mobile robot in pipe for piping operations. IEEE International Conference on Intelligent Robots and Systems 2166-2171.
Najjaran H (2005), IRC creating an underwater robotic vehicle to inspect in service water mains. Construction Innovation 10(2): 11.
Okamoto J, Adamowskia JC, Tsuzukia M, Buiochia F, Camerinib CS (1999), Autonomous system for oil pipelines inspection. Mechatronics. Elsevier 731- 743(13).
Painumgal U, Thornton B, Tamaki U, Nose Y (2013), Positioning and Control of an AUV inside a water pipeline for non-contact inservice inspection. www.mtsjournal.org / Papers / PDFs/130503-241.pdf, Roh SG, Ryew SM, Yang JH, Choi HR (2001), Actively steerable in-pipe inspection robots for underground urban gas pipelines. IEEE International Conference on Robotics and Automation 1: 761-766.
Roh SG, Choi HR (2005), Differential-drive inpipe robot for moving inside urban gas pipelines. IEEE Transactions on Robotics and Automation. 21(1): 1-17.
Roman H, Pellegrino BA (1993), Pipe line crawling inspections: An Overview. IEEE Transactions on Energy Conversion 8(3): Sanieenezhad M (2003), An introduction to turbulent flow and turbulence modeling. CFD Group publication Iran.
Seif MS (2012), Fluid Mechanics. Fadak publication, Iran.
Suzumori K, Hori K, Miyagawa T (1998), A direct pneumatic stepping motor for robots: designs for pipe inspection Microrobots and for Human Care Robots. IEEE International Conference on Robotics and Automation 3047-3052.