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Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
How to build an Unmanned Marine Vehicle
Naval, mechanical and structural designan overview
Angelo Odetti
CNR Research Area in Genoa - Sala Leonardo, 11th �oor
Via De Marini 6, 16149 Genoa, Italy
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Table of Contents
1 Design Spiral
2 Requirements
3 UMVs
4 Shape and Drawing
5 Resistance
6 Power Supply
7 Propulsion and Steering
8 Mechanics
9 Vehicle subdivision
10 Structure de�nition
11 Stability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Introduction
Main Topics ofNaval Architecture and Marine Engineering:
Hydrodynamic and hydrostatic performances: Resistance and Stability
Mechanics and Propulsion: motors & propellers
Structure: strength of craft
Ship Control: manoeuvring & sea-keeping
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Introduction
Design Spiral
No overdesigned and No overengineered vehicles
e.g. higher weight-> higher drag -> higher power supply -> vicious design spiral
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Introduction
Design Spiral
No overdesigned and No overengineered vehicles
e.g. higher weight-> higher drag -> higher power supply -> vicious design spiral
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Project Requirements
VehicleType of vehicle, type of mission:
surface, underwater?single mission / multi-purpose?stable / fast?
Dimensions
Depth (or immersion)
Weight
Payloadsensorssamplersother vehicles
Speed
Poweron-boardo�-boardhybrid
Communication
Autonomy
Transportability
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned Marine Vehicles
Known as marine drones, are vehicles that can operate without
crew aboard
Unmanned surface vehicles (USV)
Unmanned semi submersible vehicles (USSV)
Unmanned underwater vehicles (UUV)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned Marine Vehicles
Divided into two categories
Remotely operated vehicles:
wi�/radiomodem: USV,USSVtethered:ROV
Autonomous vehicles:
(AUVs) Pre-programmed to operate independently
Semi-autonomous vehicles: Remotely operated vehicles
operating autonomously
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned surface vehicles (USV)
Category of marine crafts
Mostly used: monohull, catamaran, planing boat
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned surface vehicles (USV)
Category of marine crafts
Mostly used: monohull, catamaran, planing boat
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned surface vehicles (USV)
Category of marine crafts
Mostly used: monohull, catamaran, planing boat
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned semisubmersible vehicles (USSV)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned semisubmersible vehicles (USSV)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned surface vehicles
Unmanned semisubmersible vehicles (USSV)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned underwater Vehicles
Unmanned underwater vehicles (UUV)
Vehicles that can operate underwater down to great depths
Recreational vehicles , for observation, to support research and archeology.Small-size, Medium-size, Work-purpose and Special sizegliders and others
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Unmanned
ROV: Remotely Operated Vehicle
Umbilical Cable for power and data
For Long operations
Mainly Stationary for localizedoperations
Real-time information
AUV: Autonomous UnderwaterVehicle
AUV is equipped with batteries,can receive or send data withundersea communications
limited operating period
Freedom of movement
Totally autonomous
The di�erence between an ROV and an AUV is theconnecting cable
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Drawing
Computer Graphics
Rhinoceros (using Non Uniform Rational B-Splines), AutoCAD etc.
Dimension drivenPro-E, Solidworks, CATIA etc.
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Drawing
Draw your vehicle
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Drawing
Draw your vehicle
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Drawing
Draw your vehicle
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Surface:
Main components (for bare hull):
friction
form
wave
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Underwater:
Main components (for bare hull):
friction
form
wave
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Known Shape: Monohull,Twinhull,torpedo..CT is obtained by existing data based on geometric parametersbased on experimental tests on models in towing tankswith adequate corrections
Monohull
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Known Shape: Monohull,Twinhull,torpedo..CT is obtained by existing data based on geometric parametersbased on experimental tests on models in towing tankswith adequate corrections
Catamaran
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Known Shape: Monohull,Twinhull,torpedo..CT is obtained by existing data based on geometric parametersbased on experimental tests on models in towing tankswith adequate corrections
Torpedo
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
RT = 1/2 ∗ ρw ∗ S ∗ V 2 ∗ CT
Unknown Shape: ROVs..CT is hardly estimableA factor highly a�ecting the ROV performance is tether drag
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Resistance
Optimise
CFD
Systematic Tests
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Power Delivery
Power for Propulsion/Steering and Tools
Electric / Electric
Hydraulic / Electric
Hydraulic / Hydraulic
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- widely used- good e�ciencies- low cavitation- steering in di�erential or coupled withcontrol surfaces
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- high thrust near bollard condition- duct increases the thrust- lower e�ciencies at higher speeds- reducing the tip vortex- can be useful for decreasing thecavitation- protecting the propeller in narrow areas- steering in di�erential or coupled withcontrol surfaces
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- compactness- lower e�ciencies- null tip vortex- no shaft->safety- protecting the propeller in narrow areas- steering in di�erential or coupled withcontrol surfaces
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- protected: for shallow water- low e�ciencies- high speeds- good steer-ability- protecting the propeller in shallowwaters
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- good management of �ow- good steer-ability- exposed
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propulsion and steering
(Mostly used)Propulsion systems
Propellers
Classic Propeller
kort Ducted
Rim-driven thruster
Controllable Pitch
Propeller
Waterjet (pump-jet)
Steerable propulsion
Podded
Waterjet
Bio-mimetic systems (wings,�ippers and �ns)
Peculiarities- higher e�ciencies??- a world in front of us
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Con�guration
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Choice from Propeller Series
Data are collected in di�erent diagrams including a number of models of propellers(P/D,Z,Ae/Ao,Duct etc..)Obtained from Isolated propeller tests, Self-propelled Tests, Cavitation tunnels:
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Choice from Propeller SeriesData necessary forchoice:
Required Thrust
Diameter
Number of Blades
Ae/Ao
Immersion
Go in graphics: And obtain:
P/D
Thrust coe�cient
Torque coe�cient
E�ciency
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Propulsion chosen: Propeller (ducted or not)Absorbs the torque developed by themotor/engine at given rpms.Rotation of the Hydrofoil propeller blade
section through the water causes apositive pressure on the face of theblade and a negative pressure on itsback.
Build / Buy / Rapid Prototyping
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Propeller Design
Analysis of interactions
Vehicle-Propeller interactions. Main e�ects:
Wake Fraction (1-w)
Thrust deduction on the hull increasing the resistance (1-t)
(Rudder-Propeller interactions)
Optimise
CFD / RANSE
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Couplings
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Magnetic
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Dynamic Sealing
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Static Sealing:
head:
shear:
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Mechanics
Mechanics Scopes
Coupling between Propeller and Motor
Sealing of Electric Parts from external
Transmission of Thrust to the structure
(Bearings or bushings)Ball bearingsTapered roller bearingRoller bearingsNeedle Bearing.Angular contact ball bearingsHydrodinamic Bearing
Precision - reliability - e�ciency
Everything has to be mounted and..dismounted formaintenance!
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Vehicle subdivision
Distribution table
Distribution of weights and volumes (positions, centre of gravity, centre ofbuoy)
Distribution of buoyancy
to calculate:
Structural loads
Centre of gravity (COG)
Centre of buoyancy (CB)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Loads
Surface LoadsWeights-Buoyancy balancing
Wave loads (from HSC rules)
Transport Loads(Lifting, Impacting)
Local loads due to thrusters / tools
Underwater LoadsWeights-Buoyancy balancing
Hydrostatic Pressure loads(Each 10 m depth: 0,10 MPa or1,01 bar)
Transport Loads(Lifting, Impacting)
Local loads due to thrusters / tools
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Material Choice
Materials
Surface
Superstructures: PVC / HDPE /PP / Aluminum
Hull: HDPE / PP / Composites /FOAMs / Aluminum
Components: HDPE / Plastics /Stainless Steel
Buoyancy: low weight foams
Underwater Loads
Structure: HDPE/ PVC /Stainless Steel / Titanium
Components: Titanium / StainlessSteel
Buoyancy: high strength foams
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Structural Calculations
First: Direct scantling of structures
Schematics:
Second: FEM Analysis
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Structural Calculations
First: Direct scantling of structures
Veri�cation:
Second: FEM Analysis
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Structural Calculations
First: Direct scantling of structures
Second: FEM Analysis
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Back to vehicle subdivision
Distribution table
Distribution of weights and volumes (positions, centre of gravity, centre ofbuoy)
Distribution of buoyancy
to calculate:
Structural loads
Centre of gravity (COG)
Centre of buoyancy (CB)
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Balancing
Centre of gravity (COG)
Centre of buoyancy (CB)
Metacentric Height (MT)
Surface
Analysis of stability:
Underwater Loads
Realization of buoyancy foam:
Gives stability
Balances the immersion of thevehicle
The vehicle will then be balanced from time to time depending
on the equipment mounted on board
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Design Spiral
No overdesigned and No overengineered vehicles
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
Design Spiral
No overdesigned and No overengineered vehicles
Naval,mechanical
andstructuraldesign
DesignSpiral
Requirements
UMVs
Shape andDrawing
Resistance
PowerSupply
Propulsionand Steering
Mechanics
Vehiclesubdivision
Structurede�nition
Stability
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