Dynamic Analysis of a SWATH Vessel

摘要

The Autonomous Surface Vessel is a program that will create a platform for science capable of carrying a myriad of instruments repeatedly into remote sites. The completed system is expected to allow a scientist oversight from his or her desktop using tele-presence or artificial intelligence concepts combined with infrastructure of the internet. Key aspects to accomplishing these goals are a robust vessel design with predictable and well understood performance parameters. This paper discusses the dynamic analysis of and design modifications to the selected vessel, an Autonomous Small Water plane Area Twin Hull (SWATH) boat named WASP. This work was accomplished during the summer of 2005 at the Monterey Bay Aquarium Research Institute using their underwater robotics lab and associated test tank. After several testing iterations a number of modifications were implemented and retested. The tank testing and successful outcomes have enabled the next phase of the project; a preliminary / demo autonomous operation in the Elkhorn slough in preparation for further testing that will include full wave tank simulations and complete dynamic analysis.