This paper proposes a formation generation algorithm and formation obstacle avoidance strategy for multiple unmanned surface vehicles (USVs). The proposed formation generation algorithm implements an approach combining a virtual structure and artificial potential field (VSAPF), which provides a high accuracy of formation shape keeping and flexibility of formation shape change. To solve the obstacle avoidance problem of the multi-USV system, an improved dynamic window approach is applied to the formation reference point, which considers the movement ability of the USV. By applying this method, the USV formation can avoid obstacles while maintaining its shape. The combination of the virtual structure and artificial potential field has the advantage of less calculations, so that it can ensure the real-time performance of the algorithm and convenience for deployment on an actual USV. Various simulation results for a group of USVs are provided to demonstrate the effectiveness of the proposed algorithms.

The goal of this manuscript is to investigate the influence of relative distance between the twin rotors on the hydrodynamic performance of the vertical axis twin-rotor tidal current turbine. Computational fluid dynamics (CFD) simulations based on commercial software ANSYS-CFX have been performed to enhance the understanding of interactions between the twin-rotors. The interactions between the twin rotors are known to have increased the power output efficiency as a whole, and it is, therefore, of great significance to undertake deeper research. The simulation results are found to be consistent with similar research results in the literature in some aspects. The simulation results of stand-alone turbine and twin rotors are compared from three different aspects, including blade forces, power output efficiency and wake flow field. The results showed that the cyclic variations tendency of blade force coefficients of twin rotors is close to that of the stand-alone turbine. The average power output efficiency of the twin-rotors system is higher than that of the stand-alone turbine. The interactions between the turbines increase the power output of the twin turbine system as whole in a wide relative distance range. However, smaller relative distance between the twin rotors does not mean a bigger power output efficiency of such a system. The power out efficiency of such a system would decrease when the relative distance between the twin rotors exceeds the critical point. The power output of the twin rotors reaches the peak value when the ratio between the two main axis distance and diameter of the turbine is around 9/4. This research can provide a reference for the design and development of larger tidal power stations.

With the increase of water depth, the design and use of the top-tensioned risers (TTR) are facing more and more challenges. This research presents the effect of top tension on dynamic behavior of deep-sea risers by means of numerical simulations and experiments. First, the governing equation of vortex-induced vibration (VIV) of TTR based on Euler-Bernoulli theory and Van der Pol wake-oscillator model was established, and the effect of top tension on natural vibration of TTR was discussed. Then, the dynamic response of TTR in shear current was calculated numerically by finite difference method. The displacement, bending stress and vibration frequency of TTR with the variation of top tension were investigated. Finally, a VIV experiment of a 5 m long flexible top-tensioned model was carried out at the towing tank of Tianjin University. The results show that the vibration displacement of TTR increases and the bending stress decreases as the top tension increases. The dominant frequency of VIV of TTR is controlled by the current velocity and is barely influenced by the top tension. With the increase of top tension, the natural frequency of TTR increases, the lower order modes are excited in the same current.

Particle image velocimetry is applied in this study to measure the wake flow field of a Panamax Bulker ship model under the ballast condition. This investigation revealed that the Froude number is 0.167. The time-averaged velocity, turbulent fluctuations, turbulent kinetic energy (TKE), Reynolds stresses, and vorticity information were measured to perform a comparison with the design condition. The time-averaged velocity contours indicated that the ballast and design conditions have distinct hook-like axial velocity contours; however, they appeared at different positions. The big difference under the ballast condition is that the top of the propeller disk area is near the free surface and a region with strong root mean square velocity fluctuation is formed near the free surface. The TKE, the Reynolds stresses, and the hub cap vortex (Hcv) are all affected by the turbulent velocity fluctuation region under the ballast condition. A strong bilge vortex (Bv) is produced when the water flows through the U-shaped stern for the design and ballast conditions.

Flume experiments were performed to test four plant mimics with different stiffness to reveal the effect of plant stiffness on the wave dissipation and turbulence process. The mimics were built of silica gel rod groups, and their bending elastic modulus was measured as a proxy for stiffness. The regular wave velocity distribution, turbulence characteristics, and wave dissipation effect of different groups were studied in a flume experiment. Results show that, when a wave ran through the flexible rod groups, the velocity period changed gradually from unimodal to bimodal, and the secondary wave peak was more apparent in the more flexible mimics. The change in the turbulence intensity in the different rod groups showed that the higher the rod stiffness, the greater the turbulence intensity. With an increase in the bending elastic modulus of a rod group, the wave dissipation coefficient increased. The increase in the wave dissipation coefficient was not linearly correlated with the bending elastic modulus, but it was sensitive within a certain range of the elastic modulus.

For a current turbine fixed on a floating platform, the wave-induced motion responses of the platform change the hydrodynamic performance of the current turbine. In this paper, a numerical simulation method based on commercial computational fluid dynamics software-CFX is established to systematically analyze the turbine loads condition and power output efficiency of the turbine subject to the wave-induced motion. This method works well in terms of 2D hydrodynamic performance analysis and is verified by an experiment. In addition, the method is applied to investigate the hydrodynamic performance of a vertical axis current turbine under forced oscillation by a combining sliding mesh with moving mesh technique. This research mainly focusses on the effects of oscillation frequency and oscillation amplitude on the hydrodynamic performance and the flow field. It is found that a wake flow similar to the Von Karman Vortex Street appears under sway oscillation. Spacing between vortex in the wake flow changes under surge oscillation. The fluctuations of the blade load coefficients can be decomposed into a low frequency part and a high frequency part. The low frequency part is related to the frequency of the forced oscillation, while the high frequency part is a consequence of the rotational frequency of the turbine. The oscillation amplitudes of the turbine load coefficients increase linearly with the growth of oscillation frequency and oscillation amplitude. This paper can provide a useful reference for similar research on the turbine loads condition and power out efficiency of the turbine subject to wave-induced motion. This paper can also provide a reference on the structural design or electronic control of vertical axis current turbines.