Dynamics of a wave propelled surface vessel

事实证明，ASV作为海上作业的海洋观测平台是有效的。尽管可能对持续的长期海洋监测产生影响，但目前的自主平台的运作受到限制，需要从支助船定期进行补给(和重新部署)。该项目旨在建立水下串列扑翼机构的基本原理，将海浪能量直接转化为ASV的推进，从而消除为整个任务携带足够的推进能量储备的必要性。本研究旨在了解水下扑翼水面航行器的运动、能量和前进速度之间的关系。经过对规则首波和跟波的初步研究，并由CASE合作伙伴进行了现场观测，带有淹没扑翼的ASV的响应对波浪条件和设计参数特别敏感，具有不同的翼片贡献和显著的振荡前进速度。然而，在实践中，规则的线性波的假设是有限的，很少是这样的。本研究的目的是找出在不规则和倾斜海况下的理论性能极限、关键设计参数和控制前进速度的方法。以每天数万英镑的科学造船时间衡量，运营成本约为每年500万美元。(维护和船员)和科考船成本在5000万至2亿美元之间，这项研究将导致显著的成本节约，并在更大的时间和空间尺度上进行测量-这是海上机器人能力的一步变化。

ASVs have proven effective as ocean observing platforms for maritime operations. Despite the potential impact for sustained long-term ocean monitoring, current autonomous platforms are limited in their operation requiring periodic recharging (and redeployment) from a support vessel. This project aims to establish the fundamental principles of a submerged tandem flapping foil mechanism to convert ocean wave energy directly into propulsion for ASVs, eliminating the necessity to carry sufficient propulsive energy reserves for entire missions. This research seeks to understand the relationships between the motions, energy and forward speed of a surface vehicle with submerged flapping foils. Following an initial study in regular head and following waves, and observed in situ by the CASE partner, the response of an ASV with submerged flapping foils is particularly sensitive to the wave conditions and design parameters, with varying individual foil contributions and a significant oscillatory forward speed. However, in practice assumptions of regular, linear waves are limited and rarely the case. This research aims to identify the theoretical performance limits, key design parameters and approaches to control the forward speed in irregular and oblique sea-states. With scientific ship time measured in the tens of thousands GBP per day, operating costs around $5M p.a. (maintenance and crew) and research vessel costs between $50-200M, this research will lead to significant cost savings and measurements on ever larger temporal and spatial scales - a step change in maritime robotic capability.