This book adopts a practical approach and presents recent research together with applications in real submarine design and operation. Topics covered include hydrostatics, manoeuvring, resistance and propulsion of submarines. The author briefly reviews basic concepts in ship hydrodynamics and goes on to show how they are applied to submarines, including a look at the use of physical model experiments. The issues associated with manoeuvring in both the horizontal and vertical planes are explained, and readers will discover suggested criteria for stability, along with rudder and hydroplane effectiveness. The book includes a section on appendage design which includes information on sail design, different arrangements of bow planes and alternative stern configurations. Other themes explored in this book include hydro-acoustic performance, the components of resistance and the effect of hull shape. Readers will value the author’s applied experience as well as the empirical expressions that are presented for use at the preliminary design stage. A wide range of state-of-the-art material is included, and there are over fifty references to recent publications in the field. Intended for advanced students and professionals working in the specialised field of submarine hydrodynamics, this book brings theoretical and practical knowledge together in one comprehensive work that is particularly valuable to the submarine hydrodynamicist.

Model submarines exert a special fascination, just like their great prototypes. The technology used with its special features and special demands on accuracy make models of submarines a challenge for anyone who dares to replicate them. In this book, Günter Hensel describes the basics of submarine modelling and the special features that need to be taken into account. Different diving techniques are described as well as the special requirements for the construction and remote-control technology used. The presentation of different submarine models and their technology ranges from ready-made models to kits and the first plan constructions. This book gives you the basics for getting started in one of the most fascinating branches of model shipbuilding. From the content: • The history of submarines - models and examples • Diving techniques • Construction techniques and materials • Plastics - Laminating hulls • Closing techniques • Finished models • Construction kits and conversions • Plan buildings • Remote control technology • Operational safety • Operation and suitable waters • Model submarine meetings and clubs • Underwater photography

The first comprehensive technical history on the subject, with photos: “A must-read for all professionals, designers and scholars of modern submarines.” —Australian Naval Institute The Royal Navy’s greatest contribution to the Allied success in World War II was undoubtedly the defeat of the U-boat menace in the North Atlantic, a victory on which all other European campaigns depended. The underwater threat was the most serious naval challenge of the war, so it was not surprising that captured German submarine technology became the focus of attention for the British submarine service after 1945. It was quick to test and adopt the schnorkel, streamlining, homing torpedoes, and, less successfully, hydrogen-peroxide propulsion. Furthermore, in the course of the long Atlantic battle, the Royal Navy had become the world’s most effective anti-submarine force and was able to utilize this expertise to improve the efficiency of its own submarines. However, in 1945 German submarine technology had also fallen into the hands of the Soviet Union—and as the Cold War developed it became clear that a growing Russian submarine fleet would pose a new threat. Britain had to go to the US for its first nuclear propulsion technology, but the Royal Navy introduced the silencing technique that made British and US nuclear submarines viable anti-submarine assets, and it pioneered in the use of passive—silent—sonars in that role. Nuclear power also changed the role of some British submarines, which replaced bombers as the core element of British Cold War and post-Cold War nuclear deterrence. As in other books in this series, this one shows how a combination of evolving strategic and tactical requirements and new technology produced successive types of submarines. It is based largely on unpublished and previously classified official documentation, and to the extent allowed by security restrictions, also tells the operational story—HMS Conqueror is still the only nuclear submarine to have sunk a warship in combat, but there are many lesser-known aspects of British submarine operations in the postwar era.

Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.