Intelligent Service Robotics

, Volume 8, Issue 4, pp 233–245 | Cite as

Design optimization of duct-type AUVs using CFD analysis

  • Dong-Joon Won
  • Joonwon Kim
  • Jinhyun Kim
Original Research Paper


The purpose of this study was to examine the ideal design for the external and internal shapes of duct-type autonomous underwater vehicles (AUVs) using computational fluid dynamics (CFD). The most important design factors for duct-type AUVs are minimizing the drag force and increasing the thrust because these determine the propulsive efficiency. To improve the propulsive efficiency, the various factors that affect the drag force and thrust of duct-type AUVs were examined. All of the experiments were performed using CFD analysis because physical experiments are inefficient in terms of cost and time. To improve the CFD analysis efficiency, the Taguchi method was used to minimize the number of CFD analyses. Through these processes, design factors that reduce the drag force and increase the thrust according to the external and internal shapes were analyzed. We propose an optimized model that can improve the propulsive efficiency.


Duct-type autonomous underwater vehicle (AUV) Computational fluid dynamics (CFD) Myring equation Venturi effect 

List of symbols


Drag coefficient


Drag force




Inlet flow rate


Mean flow rate at minimum internal hole diameter of AUV


Cross-sectional area at minimum internal hole diameter of AUV


Cross-sectional area at inlet of AUV


Cross-sectional area at outlet of AUV


Mean flow rate at inlet of AUV


Mean flow rate at outlet of AUV


Mean pressure at inlet of AUV


Mean pressure at outlet of AUV


Pressure acting on external shape of AUV


Pressure acting on internal shape of AUV


Pressure acting on AUV


Length of nose section


Length of body section


Length of AUV


Maximum diameter of hull

\(\theta \)

Initial angle of tail section


Curvature coefficient

\(\rho \)

Density of water

\(\nu \)

Kinematic viscosity coefficient of water

\(\mu \)

Coefficient of viscosity of water



This research was a part of the project titled ‘R&D center for underwater construction robotics’, funded by the Ministry of Oceans and Fisheries (MOF) and Korea Institute of Marine Science & Technology Promotion (KIMST), Korea (No.2013019713).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.Pohang University of Science and Technology (POSTECH)PohangRepublic of Korea
  2. 2.Seoul National University of Science and Technology (SEOULTECH)SeoulRepublic of Korea

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