Catamarans provide vast deck space, high thrust efficiency, and excellent transverse stability, however, in rough conditions they can be susceptible to deck slamming from head seas or bow diving in following seas and a pitch-roll coupling effect that can lead to uncomfortable corkscrew motion under bow-quartering seas. A new class of catamaran called Wave-Adaptive Modular Vessels (WAM-V™) aims to help mitigate oceanic input from the cabin by allowing for the relative motion of components not common to classic catamaran design. This thesis presents a set of multi-body dynamics simulation models created for two active WAM-Vs™ along with analysis on their suspension characteristics. Both models provide conclusive and realistic results, with the final model being validated against on-water testing data from a 12-ft unmanned prototype WAM-V. The first of these simulations serves primarily as a tool to evaluate WAM-V™ response characteristics with respect to a variety of parametric variations. The modeling environment is highlighted along with details of the parametric simulation and how it was created. The results fall in line with our expectations and are presented along with analysis of the sensitivity of each parameter at three longitudinal locations. The final simulation attempts to model the response of a 12-ft unmanned surface vessel (USV) prototype of the WAM-V™ configuration. Testing data is collected, processed, and applied to the model for validation of its prediction accuracy. The results of the sea tests indicate that the simulation model performs well in predicting USV motions at sea. Future considerations for testing WAM-Vs™ can include changes in suspension and mass parameters as well as limiting particular degrees-of-freedom by making their joints rigid. / Master of Science

This study provides a comprehensive performance analysis of Wave-Adaptive Modular Vessels (WAM-V) using simulations and testing data. WAM-Vs are a new class of marine technology that build upon the advantages of lightweight, low-draft, catamaran construction. Independent suspensions above the hulls isolate the passengers and equipment from the harsh sea environment. Enhanced understanding of the relationship between suspension and vehicle performance is critical for future missions of interest to the U.S. Navy. Throughout this study, the dynamic properties of three different WAM-Vs were evaluated. A multi-body dynamics simulation was developed for the 100-ft WAM-V 'Proteus' based on an automotive 4-post shaker rig. The model was used to characterize the sensitivities of different suspension parameters and as a platform for future models. A 12-ft unmanned surface vessel (USV) was instrumented and sea trials were conducted in the San Francisco Bay. A dynamic 4-post simulation was created for the USV using displacement inputs calculated from acceleration data via a custom integration scheme. The data was used to validate the models by comparing the model outputs to sensor data from the USV. A vertical hydrodynamics testing rig was developed to investigate the interaction between the pontoons and the water surface to improve the understanding of how hydrodynamic forces affect suspension performance. A model was created to accurately simulate the hydrodynamic forces that result from vertical pontoon motion. The model was then scaled to fit a 33-ft WAM-V prototype. The 33-ft WAM-V was instrumented and sea trials were conducted in Norfolk, VA. The WAM-V's suspension was upgraded based on the testing results. A 2-post rig was also built for evaluating the 33-ft WAM-V's dynamics. Two dynamic models were made for the 33-ft WAM-V to evaluate different suspension designs. The results from this study have numerous impacts on the naval community and on the development of WAM-Vs. The methodology for testing and evaluation will allow for future WAM-V designs to be compared under controlled circumstances. The performance of WAM-Vs can then be compared against conventional platforms to determine their suitability for future missions. Simulation development will enable future WAM-Vs to be evaluated prior to undergoing sea trials. The hydrodynamic models become a powerful design tool that can be easily scaled and combined with the 4-post models. By providing the simulations and test data to future vessel designers, the designers will be able to intelligently evaluate numerous iterations early in the design phase, improving performance and safety. / Ph. D.

A study is conducted to test the dynamics of the 33ft Wave-Adaptive Modular Vessel (WAM-V) when outfitted with different suspension systems.  Instrumented with an array of sensors, the vessel is tested with two different suspension arrangements to characterize how they affect WAM-V dynamics, and to ultimately select a suspension that is most suitable for the 33ft WAM-V and other vessels that are planned for the future. Optimizing the suspension can reduce the magnitude of accelerations at the payload tray, benefiting both the operator and the payload.  Reduced accelerations can significantly improve comfort and risk of injury to the operator, while also lessening the likelihood of any damage to any sensitive cargo onboard.  The stock suspension components are characterized through in-house tests conducted at the Center for Vehicle Systems and Safety (CVeSS) at Virginia Tech (VT).  Based on the stock characterizations, new suspension components are chosen to better fit the needs of the 33ft WAM-V. Sea trials are conducted with both suspension systems at the Combatant Craft Division (CCD), a division of the Naval Surface Warfare Center, Carderock Division (NSWCCD), in Norfolk, VA to quantitatively and qualitatively determine the differences between the two suspensions.  The 33ft WAM-V is instrumented with a series of accelerometers and potentiometers for measuring accelerations and displacements.  The data is analyzed for the sea trials conducted at CCD and the results of the analysis indicate that the suspension selection can significantly affect the transmission of shock and vibrations from the pontoons to the operator or payload tray.  Both suspensions are able to mitigate a significant amount of the shocks seen at the pontoons, however, the results do not definitively show which suspension is the better of the two.  This is due to the fact that each suspension is not subjected to the exact same wave conditions, and  therefore the resulting suspension dynamics vary.  For instance, during a 2-foot wave event, the new suspension attenuates more shock than the stock suspension, 76% versus 71%.  However, during a 4-foot wave event, the stock suspension attenuates more shock than the new suspension, 66% versus 60%. Additionally, the suspension selection can significantly influence the ride height.  The stock suspension provides a 70/30 ratio between extension and compression stroke, while the new suspension provides a 50/50 ratio.  The more balanced split between the extension and compression strokes allow for better utilizing the total available stroke for the suspension in both directions.  This significantly reduces the resulting high-g impacts since the suspension does not frequently bottom out when the vessel is subjected to a large wave. It is recommended that the results of this study be extended through laboratory dynamic testing that allows for more repeatable dynamic events than sea trials in order to better establish the influence of each suspension parameter on the vessel dynamics.  Such tests will also allow for a better understanding of the dynamics of the vessel in response to various inputs at the pontoons, both subjectively (visually) and objectively (through measurements). / Master of Science

Z-Pinch IFE (Inertial Fusion Energy) reactor designs will likely utilize high yield targets (~ 3 GJ) at low repetition rates (~ 0.1 Hz). Appropriately arranged thick liquid jets can protect the cavity walls from the target x-rays, ions, and neutrons. However, the shock waves and mechanical loadings produced by rapid heating and evaporation of incompressible liquid jets may be challenging to accommodate within a small reactor cavity. This investigation examines the possibility of using two-phase compressible (liquid/gas) jets to protect the cavity walls in high yield IFE systems, thereby mitigating the mechanical consequences of rapid energy deposition within the jets. Two-phase, free, vertical jets with different cross sections (planar, circular, and annular) were examined over wide ranges of liquid velocities and void fractions. The void fraction and bubble size distributions within the jets were measured; correlations to predict variations of the slip ratio and the Sauter mean diameter were developed. An exploding wire system was used to generate a shock wave at the center of the annular jets. Attenuation of the shock by the surrounding single- or two-phase medium was measured. The results show that stable coherent jets can be established and steadily maintained over a wide range of inlet void fractions and liquid velocities, and that significant attenuation in shock strength can be attained with relatively modest void fractions (~ 1%); the compressible two-phase jets effectively convert and dissipate mechanical energy into thermal energy within the gas bubbles. The experimental characteristics of single- and two-phase jets were compared against predictions of a state-of-art CFD code (FLUENT®). The data obtained in this investigation will allow reactor system designers to predict the behavior of single- and two-phase jets and quantify their effectiveness in mitigating the consequences of shock waves on the cavity walls in high yield IFE systems.