In underwater towing operations, the drag force and vertical offset angle of towropes are important considerations when choosing and setting up towing equipment. The aim of this paper is to study the variation in drag force, vertical offset angle, resistance, and attitude for towing operations with a view to optimizing these operations. An underwater experiment was conducted using a 1:8 scale physical model of a subsea module. A comprehensive series of viscous Computational Fluid Dynamics (CFD) simulations were carried out based on Reynolds-averaged Navier–Stokes equations for uniform velocity towing. The results of the simulation were compared with experimental data and showed good agreement. Numerical results of the vorticity field and streamlines at the towing speeds were presented to analyze the distribution of vortexes and flow patterns. The resistance components were analyzed based on the numerical result. It was found that the lateral direction was a better direction for towing operations because of the smaller drag force, resistance, and offset angle. Similar patterns and locations of streamlines and vortexes were present in both the longitudinal and lateral directions, the total resistance coefficient decreases at a Reynolds number greater than that of a cylinder.

In marine engineering, the installation of structures inevitably involves the process of water exit. This paper studies the vertical force, the shape of the free surface, and the evolution of the water entrained in a cavity in the process of lifting a structure, so as to provide guidance for practical engineering operations. Using a 1:8 experimental model, this paper derives the governing equations based on the Reynolds-averaged Navier–Stokes approach and uses the volume of fluid method to capture the shape change of the free surface. The vertical forces obtained at different lifting speeds are found to be in good agreement with the results of previous model tests. The results show that the numerical simulation method and mesh generation described in this paper can simulate the changes in the physical quantities associated with the structure in the process of water exit. The vertical force on the structure increases nonlinearly as the lifting speed rises, and the maximum lifting speed is conservatively estimated to be 0.034 m/s using the Det Norske Veritas recommended method. The maximum vertical force occurs as the whole structure leaves the water. The water entrained in the structure is mainly located at the sides and bottom. The lifting velocity plays an important role in the water exit process. The water exit force first increases and then decreases to a stable value as the lifting velocity increases, while the maximum water exit force increases nonlinearly.

In subsea installation operations, the hydrodynamic force of the subsea module is important considerations when designing the structure and choosing slings. The hydrodynamic force and flow field of a subsea module with deflated cavity shells were investigated numerically. A deflated cavity shell is a kind of shell structure that opened at one end the other end closed but is

The maneuverability of a submarine in the vertical plane is a key indicator of navigation safety. However, existing studies typically evaluate maneuvering performance based on hydrodynamic coefficients, often neglecting the flow-field evolution induced by different steering strategies. In this study, a high-fidelity numerical model for the vertical-plane motion of the DARPA SUBOFF submarine is established using the Reynolds-Averaged Navier–Stokes (RANS) method and validated against benchmark data. Unlike traditional analyses that employ a fixed rudder angle, this work systematically compares three steering strategies with continuously varying rudder angles—trapezoidal, step, and linear steering—examining their motion responses, hydrodynamic performance, and unsteady flow-field evolution. The results show that, although step steering produces the fastest response with the strongest transient characteristics, it also triggers pronounced flow separation and significant unsteady effects. Linear steering yields a smoother but the weakest motion response, with reduced rudder effectiveness and a noticeable lag effect. In contrast, trapezoidal steering maintains a stable flow field around the submarine, with uniformly concentrated vorticity distribution, ensuring smooth and safe motion and achieving a favorable balance between response speed and flow stability. The findings provide theoretical reference for research on submarine vertical-plane steering motion, rudder-angle control, and flow-field stability.