A capacidade de prever os movimentos de uma plataforma de petróleo sujeita a ondas é bastante importante no contexto da engenharia naval e oceânica, já que esses movimentos terão diversas implicações no projeto deste sistema, com impactos diretos nos custos de produção e tempo de retorno do investimento. Esse trabalho apresenta os fundamentos teóricos sobre o problema de comportamento no mar de corpos flutuantes sujeitos a ondas de gravidades e um método numérico para solução do problema 2D no domínio do tempo. A hipótese básica adotada é a de escoamento potencial, que permitiu a utilização do método de elementos de contorno para descrever a região fluida. Optou-se pela utilização de fontes de Rankine como função de Green no desenvolvimento do método, o qual será abordado somente no contexto linear do problema matemático, delimitado através de um procedimento combinado entre expansão de Stokes e série de Taylor. As simulações são realizadas no domínio do tempo sendo, portanto, resolvido o problema de valor inicial com relação às equações do movimento e equações que descrevem a superfície-livre combinadas com dois problemas de valor de contorno, um para o potencial de velocidades e outro para o potencial de aceleração do escoamento. As equações integrais de contorno permitem transformar o sistema de equações diferenciais parciais da superfície livre num sistema de equações diferenciais ordinárias, as quais são resolvidas através do método de Runge-Kutta de 4a. ordem. As equações integrais são tratadas de forma singularizada e o método utilizado para discretizar as mesmas é de ordem baixa tanto para a função potencial quanto para a aproximação geométrica, sendo as integrações necessárias realizadas numericamente através de quadratura Gauss-Legendre. O algoritmo numérico é testado e validado através de comparações com soluções analíticas, numéricas e experimentais presentes na literatura, considerando os problemas de geração de ondas, cálculo de massa adicional e amortecimento potencial através de ensaios de oscilação forçada, testes de decaimento e, por último, resposta em ondas. Os resultados obtiveram boa concordância com aqueles adotados como paradigma. / The ability to predict the seakeeping characteristics of an offshore structure (such as an oil platform) is very important in offshore engineering since these motions have important consequences regarding its design and therefore its cost and payback period. This work presents the theoretical and numerical aspects concerning the evaluation of the 2D seakeeping problem under the potential flow hypothesis, which allows the use a Boundary Elements Method to describe the fluid region with Rankine sources as Green function. The linearized version of the mathematical problem is built by a combined Stokes expansion and Taylor series procedure and solved in time domain. The initial value problem concerning the motion and free surface equations are solved combined to the boundary value problems considering the velocity and acceleration flow potentials, which transform the partial differential equations of the free surface into ordinary differential equations, that are solved using the 4th order Runge-Kutta method. The integral equations are solved in its singularized version using a low order method both for the potential function and the geometrical approximation, with the terms of the linear system evaluated using Gauss Legendre quadrature. The numerical scheme is tested and validated considering analytical, numerical and experimental results obtained in the literature, concerning wave generation, added mass and potential damping evaluation, decay tests and response to waves. The results achieved good agreement with respect to those used as paradigm.

Submersíveis em velocidade constante e pequenas cotas de submersão são aqui considerados e os efeitos da superfície livre no fluxo são levados em conta. O problema de geração de onda devido ao avanço de corpos submersos é abordado no presente estudo. Neste problema de contorno, as condições de superfície livre são linearizadas. A formulação diferencial é condicionada como um problema de integração através da aplicação da segunda identidade de Green. A discretização do problema conduz a um sistema linear no potencial de velocidades, que se supõe ser distribuído através de B-splines parabólicas nos painéis. A contribuição desta dissertação tem foco em propor diretrizes para a aplicação do método descrito em condições operacionais típicas de cascos de submarinos em movimento de avanço em cotas periscópicas de submersão. Os resultados numéricos obtidos através destes procedimentos são comparados a resultados publicados existentes para sua de validação. / Submersibles in constant ahead velocity at small submergences are here considered, the free surface effects on the flow are taken into account. The wave generating problem due to submerged bodies advance is addressed in the present study. In this boundary value problem, the free surface conditions are linearized. The differential problem is conditioned into an integral problem through the application of Green\'s second identity. The discretization of the problem leads to a linear system in the velocity potential, that is supposed to be distributed according to parabolic B-splines into the panels. The contribution of this dissertation focus on guidelines for the application of the above method on typical operational conditions of submarine vessels under ahead motion at snorkelling submergences. The numerical results obtained through these procedures are compared to existent published results with the aim of validation.

Noise pollution threatens marine ecosystems, where animals rely heavily on sound for navigation and communication. The largest source of underwater noise from human activity is shipping, and propeller-induced cavitation is the dominant source of noise from ships. Mitigation strategies require accurate methods for predicting cavitation-induced noise, which remains challenging. The present thesis explores prediction and modelling strategies for cavitation-induced noise from marine propellers, and provides insight into models that can be used both during propeller design and to generate intelligent vessel control strategies. I examined three distinct approaches to predicting cavitation-induced noise, each of which is discussed in one of the three main chapters of this thesis: a high-fidelity computational fluid dynamics scheme, a parametric mapping procedure, and the use of field measurements. Each of these three chapters presents different insight into the acoustic behaviour of cavitating marine propellers, as well both real and potential strategies for mitigating this critical environmental emission. A combined experimental and numerical study of noise from a cavitating propeller, focused on both the fundamental importance of experimental findings and the effectiveness of the numerical modelling strategy used, is detailed in the first main chapter of this thesis. The experimental results highlighted that loud cavitation noise is not necessarily associated with high-power or high-speed propeller operation, affirming the need for intelligent vessel operation strategies to mitigate underwater noise pollution. Comparison of the experimental measurements and simulations revealed that the simulation strategy resulted in an over-prediction of sound levels from cavitation. Analysis of the numerical results and experiments strongly suggested that the cavitation model implemented in the simulations, a model commonly used for marine propeller simulations, was responsible for the over-prediction of sound levels. Ships are powered primarily by combustion engines, for which it is possible to generate "maps" relating the emission of pollutants to the engine’s speed and torque; the second main chapter of this thesis presents the methodology I developed for generating similar "maps" relating the level of cavitation-induced noise to the speed and torque of a ship's propeller. A proof-of-concept of the method that used the model propeller from the first main chapter is presented. To generate the maps, I used a low-order simulation technique to predict the cavitation induced by the propeller at a range of different speed and torque combinations. A pair of semi-empirical models found in the literature were combined to provide the framework for predicting noise based on cavitation patterns. The proof-of-concept map shows a clear optimal operating regime for the propeller. The final main chapter of this thesis presents an analysis of field noise measurements of coastal ferries in commercial operation, the data for which were provided by an industrial partner. The key finding was the identification of cavitation regime changes with variation in vessel speed by their acoustic signatures. The results provide a basis for remotely determining which vessels produce less noise pollution when subject to speed limits, which have been implement in critical marine habitats, and which vessels produce less noise at a specific optimum speed. / Graduate

This study demonstrates the applicability of using a modified application strategy of panel method to analyze low aspect ratio wings at preliminary design phases. Conventional panel methods fail to capture the leading edge vortex (LEV) that is shed by wings with low aspect ratios, typically below 2 depending on planform. This aerodynamic phenomenon contributes to a significant amount of the lift of these wings and the result is a drastic underestimation of the lift characteristics when analyzed by conventional panel method. To capture the effect of the leading edge vortex, a panel method code was used with an extended definition of the Kutta condition along portions of the leading edge inducing a vortex to shed from the leading edge and flow aft just inside the leading edge. To validate that this method, it was applied to 2 elliptical planforms with constant thickness where experimental force balance data was available. Additionally, the same 2 wings were analyzed using a finite volume solver to compare pressure distributions and to demonstrate the difference in magnitude of solution times. For comparison purposes, the resulting forces and moments from both computational methods and experimental testing were plotted over a range of angles of attack. Overall, the results demonstrate that a modified panel method could be used during the preliminary design phases for low aspect ratio wings. The panel method can reasonably model the lift and induced drag characteristics of low aspect ratio wings. This method loses applicability beyond the stall point where the leading edge vortex breaks down and oversimplifies pitching moment relation to angle of attack. Additionally, when compared to finite volume solutions of the same scenario, the panel method provided a result 20 to 30 times faster than the finite volume solutions. With this in mind, the modified panel method application strategy lends itself to preliminary design phases of low aspect ratio wings where the level of detail does not warrant finite volume analysis and solution speed has higher priority.

This study is undertaken to characterize the aerodynamic behavior of Kevlar-wall test sections and specifically those containing two-dimensional, lifting models. The performance of the Kevlar-wall test section can be evaluated against the standard of the hard-wall test section, which in the case of the Stability Wind Tunnel (SWT) at Virginia Tech can be alternately installed or replaced by the Kevlar-wall test section. As a first step towards the evaluation of the Kevlar-wall test section aerodynamics, a validation of the hard-wall test section at the SWT is performed, in part by comparing data from NACA 0012 airfoil sections tested at the SWT with those tested at several other reliable facilities. The hard-wall test section showing good merit, back-to-back tests with three different airfoils are carried out in the SWT's hard-wall and Kevlar-wall test sections. Kevlar-wall data is corrected for wall interference with a panel method simulation that simulates the unique boundary conditions of Kevlar-wall test sections including the Kevlar porosity, wall deflection, and presence of the anechoic chambers on either side of the walls. Novel measurements of the boundary conditions are made during the Kevlar-wall tests to validate the panel method simulation. Finally, sensitivity studies on the input parameters of the panel method simulation are conducted. The work included in this study encompasses a wide range of issues related to Kevlar-wall as well as hard-wall tunnels and brings to light many details of the performance of such test sections. / Master of Science

Este trabalho visa a determinação numérico-experimental de propriedades hidrodinâmicos em um cilindro de seção circular parcialmente submerso. A solução numérica do problema foi desenvolvida através do método dos painéis, o qual foi programado no pacote MATLAB®, sendo que o modelo do cilindro é excitado segundo os parâmetros de onda registrados a partir do ensaio de arrasto do cilindro, possibilitando a determinação da massa adicional e amortecimento hidrodinâmico. O desenvolvimento experimental foi efetivado através de ensaios em tanque de testes, com o uso de um carro de arrasto, tendo sido utilizado um sistema PIV (Particle Imagem Velocimetry) para mapear a não ocorrência da formação de vórtices na superfície submersa do cilindro. O cilindro foi fixado na base do carro, através de uma haste, na posição vertical, permanecendo parcialmente submerso nos ensaios de movimento oscilatório, com frequência e deslocamento longitudinal definidos. Nos ensaios, o conjunto de sensores no sistema detectou as variáveis de aceleração e carregamento na haste de sustentação do cilindro, deslocamento do carro e altura de onda, este último, realizado por dois wave probes simetricamente distanciados da posição inicial do cilindro. Os ensaios possibilitaram a obtenção da massa adicional e dos parâmetros necessários à solução numérica. O desenvolvimento da solução numérica hidrodinâmica via simulação em programa comercial foi realizado no pacote ANSYS® AQWATM, onde o cilindro foi modelado parcialmente submerso, sendo excitado pela frequência e velocidade de onda, os quais foram obtidos nos ensaios experimentais. Os resultados numéricos da programação e da simulação mostraram boa correspondência com os resultados experimentais. / This study involves the experimental and numerical determination of the hydrodynamic properties of a partially submerged cylinder with circular cross section. The numerical solution to the problem was developed using the panel method, which was programmed in the MATLAB® package, and the cylinder model was excited according to the wave parameters recorded during the cylinder drag test, enabling the determination of added mass and hydrodynamic damping. The experimental part of this study involved using a drag car in a test tank, with a PIV (Particle Image Velocimetry) system to map the non-occurrence of vortex formation on the submerged surface of the cylinder. The cylinder was attached vertically to the bottom of the car base by a rod, remaining partially submerged in the oscillatory motion tests, with defined frequency and longitudinal displacement. In the tests, the system’s sensor array detected the variables of acceleration and loading on the cylinder support rod, the car’s displacement and wave height, the latter measured by two wave probes placed at symmetrical distances from the cylinder’s initial position. The experimental tests made it possible to determine the added mass and the parameters required for the numerical solution. The development of the numerical solution of the hydrodynamic problem via simulation with commercial software was performed using the ANSYS® AQWATM package, in which the modeled cylinder was partially submerged and was excited by the wave frequency and velocity that were determined in the experimental tests. The numerical results of the programming and simulation showed a good correspondence with the experimental results.

Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

In this thesis, store separation from two different configurations are solved using computational methods. Two different commercially available CFD codes / CFD-FASTRAN, an implicit Euler solver, and an unsteady panel method solver USAERO, coupled with integral boundary layer solution procedure are used for the present computations. The computational trajectory results are validated against the available experimental data of a generic wing-pylon-store configuration at Mach 0.95. Major trends of the separation are captured. Same configuration is used for the comparison of unsteady panel method with Euler solution at Mach 0.3 and 0.6. Major trends are similar to each other while some differences in lateral and longitudinal displacements are observed. Trajectories of a fueltank separated from an F-16 fighter aircraft wing and full aircraft configurations are found at Mach 0.3 using only the unsteady panel code. The results indicate that the effect of fuselage is to decrease the drag and to increase the side forces acting on the separating fueltank from the aircraft. It is also observed that the yawing and rolling directions of the separating fueltank are reversed when it is separated from the full aircraft configuration when compared to the separation from the wing alone configuration.

Este trabalho visa a determinação numérico-experimental de propriedades hidrodinâmicos em um cilindro de seção circular parcialmente submerso. A solução numérica do problema foi desenvolvida através do método dos painéis, o qual foi programado no pacote MATLAB®, sendo que o modelo do cilindro é excitado segundo os parâmetros de onda registrados a partir do ensaio de arrasto do cilindro, possibilitando a determinação da massa adicional e amortecimento hidrodinâmico. O desenvolvimento experimental foi efetivado através de ensaios em tanque de testes, com o uso de um carro de arrasto, tendo sido utilizado um sistema PIV (Particle Imagem Velocimetry) para mapear a não ocorrência da formação de vórtices na superfície submersa do cilindro. O cilindro foi fixado na base do carro, através de uma haste, na posição vertical, permanecendo parcialmente submerso nos ensaios de movimento oscilatório, com frequência e deslocamento longitudinal definidos. Nos ensaios, o conjunto de sensores no sistema detectou as variáveis de aceleração e carregamento na haste de sustentação do cilindro, deslocamento do carro e altura de onda, este último, realizado por dois wave probes simetricamente distanciados da posição inicial do cilindro. Os ensaios possibilitaram a obtenção da massa adicional e dos parâmetros necessários à solução numérica. O desenvolvimento da solução numérica hidrodinâmica via simulação em programa comercial foi realizado no pacote ANSYS® AQWATM, onde o cilindro foi modelado parcialmente submerso, sendo excitado pela frequência e velocidade de onda, os quais foram obtidos nos ensaios experimentais. Os resultados numéricos da programação e da simulação mostraram boa correspondência com os resultados experimentais. / This study involves the experimental and numerical determination of the hydrodynamic properties of a partially submerged cylinder with circular cross section. The numerical solution to the problem was developed using the panel method, which was programmed in the MATLAB® package, and the cylinder model was excited according to the wave parameters recorded during the cylinder drag test, enabling the determination of added mass and hydrodynamic damping. The experimental part of this study involved using a drag car in a test tank, with a PIV (Particle Image Velocimetry) system to map the non-occurrence of vortex formation on the submerged surface of the cylinder. The cylinder was attached vertically to the bottom of the car base by a rod, remaining partially submerged in the oscillatory motion tests, with defined frequency and longitudinal displacement. In the tests, the system’s sensor array detected the variables of acceleration and loading on the cylinder support rod, the car’s displacement and wave height, the latter measured by two wave probes placed at symmetrical distances from the cylinder’s initial position. The experimental tests made it possible to determine the added mass and the parameters required for the numerical solution. The development of the numerical solution of the hydrodynamic problem via simulation with commercial software was performed using the ANSYS® AQWATM package, in which the modeled cylinder was partially submerged and was excited by the wave frequency and velocity that were determined in the experimental tests. The numerical results of the programming and simulation showed a good correspondence with the experimental results.