Journal of

Marine Science
and Engineering

Article
Thrust Prediction of an Active Flapping Foil in
Waves Using CFD
Rupesh Kumar and Hyunkyoung Shin *
Widetank, School of Naval Architecture and Ocean Engineering, University of Ulsan, Ulsan 44610, Korea;
rupesh7243@gmail.com
* Correspondence: hkshin@ulsan.ac.kr; Tel.: +82-52-259-2696




Received: 18 September 2019; Accepted: 4 November 2019; Published: 6 November 2019


Abstract: A horizontally submerged passive flapping foil can generate thrust force against the wave
propagation using wave energy. This renewable method has been used for the design of propulsion
and maneuvering systems of ships and other floating structures. Recently, the passive flapping foils
were applied to design the station-keeping system of deep-water floaters. Studies proved that the
passively flapping foil system was ineffective in short waves and drift of the floater beyond the design
limit was recorded. Therefore, an active flapping foil was investigated as a potential solution to this
problem. A computational fluid dynamics (CFD) numerical tool “ANSYS Workbench 19.2” was used
to predict the thrust force generated by the active flapping foil in a short wave. Results proved that
the active flapping foil can effectively convert wave energy into propulsive energy in short waves
and the magnitude of the thrust force depends on the flapping frequency.

Keywords: Active; flapping; foil; thrust; CFD

1. Introduction
The flapping of wings and tails are common and have inspired several researchers to carry out
experiments to understand the behavior of the flapping motion in a fluid. Several kinds of research
have been done in the past for ship propulsion using wave energy [1,2]. The hydrofoils were attached
to the ship through an elastic system, so that the hydrofoil can oscillate in the heave and pitch directions
to effectively generate the thrust force against the wave propagation.
Wu [3] introduced a two-dimensional hydrofoil that can extract energy by oscillating through
waves in water. It was found that energy can be extracted only when the wave had a vertical velocity
component to the hydrofoil span and if the flow was uniform, energy could not be extracted. Finally,
the best mode of heave and pitching for extraction of wave energy by passive type wave devouring
propulsor was obtained.
Later, Wu’s theory of an oscillating hydrofoil was extended by including a free surface effect
to study the passively flapping hydrofoil, famously known as wave devouring propulsion [4,5].
Extensive experimental work on the pure pitch and pure heave with NACA 0015 can be found in [6].
Further, heave and pitch motions were combined for NACA 0012 and the performance of flapping
foil propulsion were experimentally studied [7]. Subsequently, the effects of angle of attack on the
flapping foil propulsion were reported [8]. Studies show that the explicit control of the angle of
attack in flapping foil propulsion can broadly increase thrust force and efficiency. The application of
flapping foil for maneuvering was also reported [9]. It was found that by adding pitch bias to the
harmonic motion, large lift force can be achieved. Also, flapping foil as an auxiliary propulsor near the
free surface was reported [10,11]. Recently, passive flapping foils and plates were installed around a
floater to investigate the stationkeeing using wave energy experimentally [12]. This report showed
that the passive flapping system was very effective in long and mid waves, however, in short waves,

J. Mar. Sci. Eng. 2019, 7, 396; doi:10.3390/jmse7110396 www.mdpi.com/journal/jmse

J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 2 of 14

passive flapping system could not keep the floater in the allowable drift limit. Probably the energy
J. Mar. Sci. Eng. 2019, 7, 396 2 of 14
extracted by the flapping system in short waves was not enough to keep the position of the floater
and external energy must be applied. Therefore, an investigation of the active mode of a flapping
system
passivebecomes
flappingimportant.
system could not keep the floater in the allowable drift limit. Probably the energy
For theby
extracted past
the few years,
flapping due in
system to short
technical
waves advancements
was not enough in to
the field
keep theofposition
computational fluidand
of the floater
dynamics (CFD), the numerical analysis has become more realistic and can
external energy must be applied. Therefore, an investigation of the active mode of a flapping system be done in a reasonable
time frame. Also,
becomes CFD can be coupled with the computational structural mechanics (CSM) to simulate
important.
several Formulti-physics
the past few problems
years, due tosuch as fluid-structure
technical advancements interaction
in the field of(FSI). In recentfluid
computational years, FSI
dynamics
simulations have been conducted to evaluate the environmental loads and
(CFD), the numerical analysis has become more realistic and can be done in a reasonable time frame. dynamic response of the
offshore structures
Also, CFD can be[13–15]
coupled andwith
many theaerodynamic
computational [16,17] and biomedical
structural mechanicsapplications [18,19]. several
(CSM) to simulate
multi-physics problems such as fluid-structure interaction (FSI). In recent years, FSI designing
The purpose of this study was to investigate the possibilities of using flapping foils for simulations
a station-keeping
have been conducted systemtoofevaluate
a floater theinenvironmental
short waves. loads In orderandto do that,response
dynamic the evaluation and
of the offshore
comparison
structuresof thrustand
[13–15] forces
manyof each foil in active
aerodynamic andand
[16,17] passive modesapplications
biomedical were necessary. In the passive
[18,19].
mode, the The purpose of this study was to investigate the possibilities of using flapping foilsextents
flapping of hydrofoil was governed by the incoming waves, therefore, thrust could a
for designing
notstation-keeping
be controlled by flapping frequencies, there were the other means to do it. However,
system of a floater in short waves. In order to do that, the evaluation and comparison of in the active
mode,
thrusthydrofoil
forces ofwaseachdriven by an and
foil in active electric motor
passive modesthat were
couldnecessary.
generate In various flapping
the passive mode, frequencies,
the flapping
therefore, a controller must be designed to effectively operate the flapping
of hydrofoil was governed by the incoming waves, therefore, thrust extents could not be controlled by frequencies of hydrofoil
to flapping
meet thefrequencies,
station-keeping there goals.
were the In other
ordermeansto dotothat, thrust
do it. forcesinmust
However, be estimated
the active for eachwas
mode, hydrofoil
operating
driven by motor frequency
an electric motor in that
short waves
could and still
generate waterflapping
various conditions. Therefore,
frequencies, in this astudy,
therefore, a
controller
flapping foil was set to oscillate at a fixed location and the thrust forces were evaluated
must be designed to effectively operate the flapping frequencies of hydrofoil to meet the station-keeping for the active
mode of flapping
goals. In order tofoildo inthat,
still thrust
water and
forces short
must waves for five operating
be estimated flapping motor
for each operating frequencies.
frequencyAlso,inthe
short
CFD model was validated by comparing the thrust forces generated by fixed foil
waves and still water conditions. Therefore, in this study, a flapping foil was set to oscillate at a fixed and passive flapping
foil.
location and the thrust forces were evaluated for the active mode of flapping foil in still water and
short waves for five operating flapping frequencies. Also, the CFD model was validated by comparing
2. Methodology
the thrust forces generated by fixed foil and passive flapping foil.
This paper aimed to analyze the fluid-structure interaction of a horizontally placed active
2. Methodology
flapping foil in short waves. A rigid NACA 0015 section of 8 cm chord length, made of acrylic glass
This paper aimed to analyze the fluid-structure interaction of a horizontally placed active flapping
was attached from its leading edge to the 0.1 cm thick high-density polyethylene (HDPE) elastic plate
foil in short waves. A rigid NACA 0015 section of 8 cm chord length, made of acrylic glass was attached
as from
shown itsin Figureedge
leading 1. This arrangement
to the ofhigh-density
0.1 cm thick flapping foilpolyethylene
was taken from the work
(HDPE) elasticreported
plate as in [20], in
shown
where
Figurean 1.elastic plate was attached
This arrangement to the
of flapping foilleading edge
was taken of the
from the foil
worktoreported
guide the hydrofoil
in [20], whereoscillate
an elastic
plate was
smoothly attached to the leading edge of the foil to guide the hydrofoil oscillate smoothly in waves.
in waves.

Figure 1. Flapping foil.

Figure 1. Flapping foil.
FSI simulations for the active and passive mode of flapping foil were done using ANSYS
FSI simulations for the active and passive mode of flapping foil were done using ANSYS
Workbench 19.2 [21]. Since the current version of simulation tool does not support the FSI simulation
Workbench 19.2 [21]. Since the current version of simulation tool does not support the FSI simulation
for 2-Dimensional models, 1 cm thick geometry consists of fluid and solid domain was created for the
for 2-Dimensional models, 1 cm thick geometry consists of fluid and solid domain was created for
simulation. Duration of the simulation was 10 s.
the simulation. Duration of the simulation was 10 seconds.
2.1. Geometry
2.1. Geometry
Geometrical models of both flapping foil and fluid domain were created as shown in Figure 2.
The fluid domain consists of two media (air and water). Length of the rectangle was six times that of
the wavelength (λ) and the structural model was placed at 2λ distance from the inlet and 5 cm below
 J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 3 of 14

Geometrical models of both flapping foil and fluid domain were created as shown in Figure 2.
J. Mar. Sci. Eng. 2019, 7, 396 3 of 14
The fluid domain consists of two media (air and water). Length of the rectangle was six times that of
the wavelength (λ) and the structural model was placed at 2λ distance from the inlet and 5 cm below
themean
the meanfree
freesurface
surface line.
line. Water
Water depth
depth was
was considered
considered as
as 40
40 cm
cm asas shown
shown inin Figure
Figure 2.
2. An
Anelastic
elastic
plate(0.1
plate (0.1cm
cmthick)
thick)was
was fixed
fixed at
at one
one end
end and
and from
from another
another end
end and
and was
was attached
attachedtotothe
theleading
leadingedge
edge
of the hydrofoil. The material properties of the hydrofoil and elastic plate were as acrylic glass
of the hydrofoil. The material properties of the hydrofoil and elastic plate were as acrylic glass and and
HDPE,respectively.
HDPE, respectively.

Figure 2. Geometry of fluid domain.

Figure 2. Geometry of fluid domain.
2.2. Computational Mesh
2.2. Computational Mesh
The volume of the fluid domain was formed using FLUENT Mesh. It was made up of tetrahedral
The volume
cells belonging to ofthethe fluid domainmesh
unstructured was formed using
category. FLUENT
A box Mesh.fine
of the very It was made
mesh wasup of tetrahedral
created from the
cellsto
inlet belonging
capture theto thefreeunstructured
surface and mesh category.deformation
the structural A box of the effectively.
very fine meshAlso,was
thecreated
volumefrommesh theof
inlet
the to capture
fluid domainthe free surface
includes and the layer
the inflation structural deformation
around effectively.
the flapping Also, the
foil to resolve thevolume
boundarymesh of
layer
the fluid domain includes the inflation layer around the flapping foil to resolve the boundary
effects efficiently in turbulent flow as shown in Figure 3. The growth ratio of the inflation layer was 1.2 layer
toeffects
J. Mar. efficiently
Sci. Eng.
maintain 2019, 7, x in
a slow FOR turbulentofflow
PEER REVIEW
transition as shown
meshes. in Figure
The fluid mesh3.contained
The growth 2.5ratio of the
million inflation layer
cells. 4 ofwas
14
1.2 to maintain a slow transition of meshes. The fluid mesh contained 2.5 million cells.

2.2.1. Near Wall Treatment

In order to get a good solution for a wall under dynamic loading, the distance from the wall to
the first cell was considered an important parameter, obtained from a non-dimensional number y+.
The target value of y+ was evaluated from the ANSYS Fluent simulation as 1. Therefore, the first layer
thickness of inflation was evaluated as 0.85 mm.

Figure 3. Mesh of fluid domain.

Figure 3. Mesh of fluid domain.

2.2.2. Structural Mesh

The volume of the solid domain was formed using Structural Mesh. It was made up of
hexahedral cells belonging to the structured mesh category as shown in Figure 4. The solid mesh
 J. Mar. Sci. Eng. 2019, 7, 396 4 of 14

2.2.1. Near Wall Treatment

In order to get a good solution for a wall under dynamic loading, the distance from the wall to
the first cell was considered an important parameter, obtained from a non-dimensional number y+ .
The target value of y+ was evaluated from the ANSYS Fluent simulation as 1. Therefore, the first layer
thickness of inflation was evaluated as 0.85
Figure mm.of fluid domain.
3. Mesh

2.2.2.
2.2.2. Structural
Structural Mesh
Mesh
The The volumeofof the
volume the solid
soliddomain
domainwas
wasformed using
formed Structural
using Mesh.Mesh.
Structural It wasItmade
wasup of hexahedral
made up of
hexahedral cells belonging to the structured mesh category as shown in Figure 4. The solid mesh 25
cells belonging to the structured mesh category as shown in Figure 4. The solid mesh contains
thousand
contains cells.
25 thousand cells.

Figure
Figure 4. Mesh
4. Mesh of solid
of solid domain.
domain.
2.3. Load Cases
2.3. Load Cases
Figure 5 shows the trailing edge displacements of the active flapping foil. The frequency of the
Figure 5 shows the trailing edge displacements of the active flapping foil. The frequency of the
five forced flapping and wave specification were displayed in Tables 1 and 2 respectively.
fiveJ.forced
Mar. Sci.flapping
Eng. 2019, and
7, x FOR PEER
wave REVIEW
specification were displayed in Table 1 and Table 2 respectively. 5 of 14

Figure 5. Forced flapping profile. (a) flapping mode; (b) Flap-1; (c) Flap-2; (d) Flap-3; (e) Flap-4;
Figure 5. Forced flapping profile. (a) flapping mode; (b) Flap-1; (c) Flap-2; (d) Flap-3; (e) Flap-4; (f) Flap-5
(f) Flap-5.

Table 1. Load cases of active flapping foil.

Load Cases Flapping Frequency (Hz) Flapping Period (sec)

Flap-1 0.71 1.4
Flap-2 0.83 1.2
J. Mar. Sci. Eng. 2019, 7, 396 5 of 14

Table 1. Load cases of active flapping foil.

Load Cases Flapping Frequency (Hz) Flapping Period (s)

Flap-1 0.71 1.4
Flap-2 0.83 1.2
Flap-3 1.0 1.0
Flap-4 1.18 0.85
Flap-5 1.33 0.75

Table 2. Wave specification.

Wave Wavelength (m) Wave Height (m)

Short wave 0.52 0.02

2.4. Modal Acoustic Analysis

Modal acoustic analysis was performed to determine the natural flapping frequency of the foil in
air and water [22] as shown in Figure 6. It was an essential process to avoid any structural failure due
J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 6 of 14
to resonance.

(a) (b)

(c)

Figure 6. (a)
Figure Modelling
6. (a) ofofmodal
Modelling modalacoustic body; (b)
acoustic body; (b)Meshing
Meshingof of acoustic
acoustic body;
body; (c) Meshing
(c) Meshing of
of flapping
flapping
foil.foil.

2.5. Simulation Setup

The 2-way FSI simulation was conducted to evaluate the thrust forces due to active flapping
motion of the hydrofoil in short waves.
J. Mar. Sci. Eng. 2019, 7, 396 6 of 14

In order to evaluate the natural frequencies of a flapping foil in air and water, an acoustic body of
fluid around the flapping foil was created. The used model is shown in Figure 6a. Figure 6b shows the
380,000 tetrahedral mesh generated for the acoustic body and Figure 6c shows the 10,000 hexahedral
mesh generated for the solid structure. The interface of solid and acoustic body element nodes was
shared to avoid contact elements. The modal acoustic analysis was performed in full damping mode.
The natural period of the flapping foil was estimated as 0.15 s in air and 0.23 s in water, that was much
smaller than the forced flapping frequency of the foil displayed in Table 1.

2.5. Simulation Setup

The 2-way FSI simulation was conducted to evaluate the thrust forces due to active flapping
motion of the hydrofoil in short waves.

2.5.1. Boundary Conditions

Table 3 shows the conditions applied to the boundaries of the fluid domain shown in Figure 2.

Table 3. Boundary conditions of fluid domain.

Domain Boundary Condition

Inlet Velocity-inlet (open channel wave boundary)
Outlet Pressure-outlet (Numerical beach)
Atmosphere Wall (zero shear)
Flapping Foil Wall (no slip)
Side wall Symmetry
Bottom Wall (zero shear)

2.5.2. FLUENT Solver Setup

Fluent uses the finite volume method to convert the general transport equation into a system of
algebraic equations. The Reynolds Averaged Navier Stokes (RANS) was used to model the effects of
turbulence. K-ω SST (Shear Stress Transport) turbulence model was used to effectively capture the
near the wall flow and free surface flow regions as shown in Table 4.

Table 4. Solver setup.

Air Density 1.225 kg/m3

Water density 998.2 kg/m3
Turbulence model k-ω SST
Multiphase model Volume of fluid
Scheme implicit
Wave theory 2nd order stokes
Pressure velocity coupling SIMPLE
Flow Open channel flow
Momentum 2nd order upwind
Volume fraction compressive
Pressure PRESTO
Turbulent kinetic energy (k) 2nd order upwind

2.5.3. System Coupling Setup

System coupling tool was used to integrate fluid and structural solvers in FSI simulations. Figure 7
shows how ANSYS fluid solver (FLUENT) and ANSYS solid solver (MECHANICAL) were coupled
and the information transferred.
2.5.3. System Coupling Setup
System coupling tool was used to integrate fluid and structural solvers in FSI simulations. Figure
7 shows how ANSYS fluid solver (FLUENT) and ANSYS solid solver (MECHANICAL) were coupled
J. Mar.
and theSci.information
Eng. 2019, 7, 396
transferred. 7 of 14

Figure 7. System coupling flow chart.

Figure 7. System coupling flow chart.
FLUENT provides information on the fluid forces acting on the body and Mechanical provides
nodalFLUENT
displacement changes
provides in the structure
information due to
on the fluid fluidacting
forces loading
onand
thesystem coupling
body and synchronize
Mechanical the
provides
whole setup of simulation. This type of simulation called 2-way FSI. The step size for the
nodal displacement changes in the structure due to fluid loading and system coupling synchronize simulation
waswhole
the used assetup
0.0005ofs.simulation. This type of simulation called 2-way FSI. The step size for the
simulation was used as 0.0005 seconds.
3. Results
Thrust forces obtained for the active mode of the flapping foil in a numerically modelled 1 cm
3. Results
thick fluid–solid domain are shown in Figure 3 and the end effects of the flapping foil was neglected.
Thrust forces obtained for the active mode of the flapping foil in a numerically modelled 1 cm
The span of the flapping foil was 20 cm during the experiment, therefore, all the numerically obtained
thick fluid–solid domain are shown in Figure 3 and the end effects of the flapping foil was neglected.
results were multiplied 20 times and presented in this paper. The global forces acting on the flapping
The span of the flapping foil was 20 cm during the experiment, therefore, all the numerically obtained
foil in the x-direction of the wave flume were considered as thrust forces. However, in the results
results were multiplied 20 times and presented in this paper. The global forces acting on the flapping
section, the thrust forces were varying in the y-direction of the plots. The positive y-direction of the
foil in the x-direction of the wave flume were considered as thrust forces. However, in the results
thrust plot represents the force generated against the wave direction.
section, the thrust forces were varying in the y-direction of the plots. The positive y-direction of the
thrust plotConvergence
3.1. Mesh represents the force generated against the wave direction.

In order
3.1. Mesh to perform a mesh convergence study, three mesh resolutions were created as mentioned
Convergence
in Table 5. Mesh convergence check was performed in ANSYS FLUENT 19.2 by generating a regular
wave.In And
orderthe
to forces
perform a mesh
acting convergence
on the fixed foil instudy,
x and three mesh resolutions
z directions wereascreated
were evaluated shown asin
mentioned in Table 5.
Figure 8a,b, respectively. Mesh convergence check was performed in ANSYS FLUENT 19.2 by

Table 5. Mesh resolutions.

Mesh Resolution Number of Elements

Case-1 1.2 million
Case-2 2.5 million
Case-3 4.1 million

Results in Figure 8 show that case 1 was slightly underestimating the peak value. However, case 2
and case 3 show a good agreement therefore, case 2 mesh resolution was selected for the 2-way FSI
simulation to save the computation time.
 Table 5. Mesh resolutions.

Mesh Resolution Number of elements

Case-1 1.2 million
J. Mar. Sci. Eng. 2019, 7, 396 Case-2 2.5 million 8 of 14
Case-3 4.1 million

(a)

(b)
Figure 8.
Figure 8. (a)
(a) Forces
Forces on
on the
the fixed
fixed foil
foil in
in xx direction;
direction; (b)
(b) Forces
Forces on
on the
the fixed
fixed foil
foil in
in zz direction.
direction.

3.2. Validation
Results inofFigure
Numerical Model
8 show that case 1 was slightly underestimating the peak value. However, case
2 andThe
case 3 show
thrust a good
forces agreement
generated by a therefore, case 2 mesh
passive flapping resolution
foil were wasexperimentally
measured selected for thein
2-way FSI
various
simulation to save the computation time.
waves and elastic conditions and reported in [20]. A CFD simulation of passive flapping foil in waves
was compared with the experimentally recorded time series data. Figure 9a shows the comparison of
3.2. Validation of Numerical Model
wave profiles from 0 to 10 s. Figure 9b shows the comparison of thrust forces for the highlighted region
in Figure 9a, from
The thrust 3 to 7generated
forces s. The comparison
by a passiveof results
flapping validates the
foil were numerical
measured method qualitatively.
experimentally in various
wavesThe efficient
and elasticmeasurement
conditions andof reported
thrust forces for the
in [20]. active
A CFD mode of flapping
simulation of passivefoil experimentally
flapping was
foil in waves
was compared
complicated, with the2-way
therefore, experimentally recorded
FSI with CFD time series
simulation mightdata. Figure
be used to9(a) showsthrust
evaluate the comparison
and other
hydrodynamic
of wave profiles properties.
from 0 to 10 seconds. Figure 9(b) shows the comparison of thrust forces for the
 highlighted region in Figure 9(a), from 3 to 7 seconds. The comparison of results validates the
numerical method qualitatively.
The efficient measurement of thrust forces for the active mode of flapping foil experimentally
was complicated, therefore, 2-way FSI with CFD simulation might be used to evaluate thrust
J. Mar. Sci. Eng. 2019, 7, 396
and
9 of 14
other hydrodynamic properties.

(a)

(b)
Figure9.9. (a)
Figure (a) Wave
Waveprofile
profilecomparison;
comparison;(b)
(b)Thrust
Thrustforce
forcecomparison.
comparison.

3.3.
3.3. Fixed
FixedHydrofoil
Hydrofoil
For
Forthe
theincident
incidentshort
shortwave
wavedisplayed
displayedininTable
Table2, 2,
ananexperiment
experiment was carried
was outout
carried forfor
a fixed foilfoil
a fixed to
capture the thrust
to capture forces
the thrust measured
forces in theinx-direction
measured as shown
the x-direction in Figure
as shown 10, therefore,
in Figure 1 mm thick
10, therefore, 1 mm HDPE
thick
elastic plate was replaced by a rigid stainless steel plate of same thickness and sinusoidal
HDPE elastic plate was replaced by a rigid stainless steel plate of same thickness and sinusoidal variation of
force in the surge (Fx) was recorded and compared with the numerically evaluated
variation of force in the surge (Fx) was recorded and compared with the numerically evaluated results using CFD.
results using CFD.
J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 10 of 14

J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 10 of 14

J. Mar. Sci. Eng. 2019, 7, 396 10 of 14

Figure 10.
Figure 10. Experimental
Experimental setup
setup to
to measure Fx for
measure Fx for aa fixed
fixed hydrofoil
hydrofoil in
in short
short waves.
waves.

11Figure
Figure 11a,b (a)show
and 11 comparison
the (b) show
10. Experimental the
setupoftocomparison
measure
wave ofa wave
Fx for
elevations fixed elevations
andhydrofoil
the and
in short
pressure the
waves.
force pressureon
variations force
the
variations on the fixed foil in time domain respectively. The CFD numerical results
fixed foil in time domain respectively. The CFD numerical results were in good agreement with were in good
Figurewith
agreement
experimental 11 (a) and 11 (b)data.
experimental
data. show the comparison of wave elevations and the pressure force
variations on the fixed foil in time domain respectively. The CFD numerical results were in good
agreement with experimental data.

(a) (b)
Figure 11.
Figure Comparison
(a) of
11. Comparison of experimental
experimental and
and CFD
CFD results
results (a)
(a) Wave
Wave elevation;
(b) (b)
elevation; (b) Force
Force (Fx).
(Fx).

3.4. Flapping in Still

Figure Water
11. Comparison of experimental and CFD results (a) Wave elevation; (b) Force (Fx).
3.4. Flapping in Still Water
Thrust forces generated by the active flapping foil in still water with five flapping frequencies
3.4. Flapping in Stillgenerated
Thrust forces Water by the active flapping foil in still water with five flapping frequencies
were evaluated using CFD-FSI simulation. Figure 12a–e show the thrust plots with the trailing edge
were evaluated using CFD-FSI simulation. Figure 12 (a), (b), (c), (d) and (e) show the thrust plots with
Thrust
deflection of forces generated
the hydrofoil for by the active
flap-1, flap-2,flapping foil inand
flap-3, flap-4 stillflap-5,
waterrespectively.
with five flapping frequencies
the trailing edge deflection of the hydrofoil for flap-1, flap-2, flap-3, flap-4 and flap-5, respectively.
were evaluated using CFD-FSI simulation. Figure 12 (a), (b), (c), (d) and (e) show the thrust plots with
the trailing edge deflection of the hydrofoil for flap-1, flap-2, flap-3, flap-4 and flap-5, respectively.
J. Mar. Sci. Eng. 2019, 7, 396 11 of 14
J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 11 of 14

Figure 12.Thrust
Figure12. Thrust plot
plot in
in still
still water
water using
using CFD (a) Flap-1;
CFD (a) Flap-1; (b)
(b) Flap-2;
Flap-2; (c)
(c) Flap-3;
Flap-3;(d)
(d)Flap-4;
Flap-4;(e)
(e)Flap-5.
Flap-5.

Results
Resultsprove
provethat
thatthe
the thrust
thrust forces
forces can
can be
be generated by the
generated by the active
active flapping
flappingmotion
motionofofthe
thefoil
foilinin
still water. As the flapping frequency increased, the magnitude of thrust forces increased,
still water. As the flapping frequency increased, the magnitude of thrust forces increased, however,however,
the
thenumber
numberof ofthrust
thrustpeaks
peaksdecreased.
decreased.

3.5. Active Mode Results in Short Wave

3.5. Active Mode Results in Short Wave
Finally,
Finally,five
five active
active modes
modes of of flapping
flapping foil foil were
were simulated
simulated in in aa short
short wave
wave using
using 2-way
2-wayFSI FSI
simulation and the results are displayed in Figure 13b–f for flap-1, flap-2, flap-3, flap-4,
simulation and the results are displayed in Figure 13 (b), (c), (d), (e) and (f) for flap-1, flap-2, flap-3, and flap-5
respectively. Results
flap-4, and flap-5 show thatResults
respectively. the magnitude
show thatofthe thrust forces increased
magnitude drastically
of thrust forces in active
increased mode
drastically
with waves
in active compared
mode with wavesto active mode in
compared to still
activewater
mode and
in fixed hydrofoil
still water in waves,
and fixed due in
hydrofoil to waves,
its ability
dueto
convert
to its ability to convert wave energy into propulsive energy, a fixed foil could not create an effectiveto
wave energy into propulsive energy, a fixed foil could not create an effective angle of attack
efficiently transform
angle of attack the wave transform
to efficiently energy intothe propulsive
wave energyenergy,intoand in still water
propulsive conditions,
energy, and in there was a
still water
no incoming there
conditions, wavewas or fluid
a noflow to generate
incoming wave or liftfluid
and flow
thrusttoforces for the
generate angle
lift and of atttacks
thrust forcescreated by the
for the angle
active flapping. However, 2-way FSI analysis could couple the effects of waves
of atttacks created by the active flapping. However, 2-way FSI analysis could couple the effects of with active flapping;
therefore,
waves with higher
active thrust peakstherefore,
flapping; were evaluated.
higher thrust peaks were evaluated.
J. Mar. Sci. Eng. 2019, 7, 396 12 of 14
J. Mar. Sci. Eng. 2019, 7, x FOR PEER REVIEW 12 of 14

Figure
Figure 13. Thrust plot
13. Thrust plot in
in short
short waves
waves (a)
(a) Passive
Passiveflapping
flappingfoil
foil(Experiment);
(Experiment);(b)
(b)Flap-1
Flap-1(CFD);
(CFD);(c)
(c)Flap-2
Flap-
(CFD); (d) Flap-3 (CFD); (e) Flap-4 (CFD); (f) Flap-5 (CFD).
2 (CFD); (d) Flap-3 (CFD); (e) Flap-4 (CFD); (f) Flap-5 (CFD) .

Figure 13a shows the experimentally measured thrust data of passive flapping foil in a short
Figure 13 (a) shows the experimentally measured thrust data of passive flapping foil in a short
wave specified in Table 2. In the passive mode, there was no significant difference in the positive
wave specified in Table 2. In the passive mode, there was no significant difference in the positive and
and negative thrust peaks, hence it was not enough to prevent the floater from drifting during the
negative thrust peaks, hence it was not enough to prevent the floater from drifting during the station-
station-keeping tests [21]. Conversely, Active modes were dominating in the positive side of the thrust
keeping tests [21]. Conversely, Active modes were dominating in the positive side of the thrust plots.
plots. Therefore, active flapping foil could be a potential solution for the station-keeping problems in
Therefore, active flapping foil could be a potential solution for the station-keeping problems in the
the short waves.
short waves.
4. Conclusions
4. Conclusions
In this study, 2-way FSI with CFD simulation was used to evaluate the thrust forces generated
In this study, 2-way FSI with CFD simulation was used to evaluate the thrust forces generated
by the active and passive flapping foils in short wave and still water conditions. Also, the numerical
by the active and passive flapping foils in short wave and still water conditions. Also, the numerical
method was validated by making comparisons with experimentally recorded data in passive flapping
method was validated by making comparisons with experimentally recorded data in passive
foil and fixed foil modes. Simulation results confirmed the generation of thrust forces due to the
flapping foil and fixed foil modes. Simulation results confirmed the generation of thrust forces due
flapping motion of foil in both active and passive modes. Foils were flapping at a set location and
to the flapping motion of foil in both active and passive modes. Foils were flapping at a set location
generating thrust forces against the direction of incoming waves, which was vital for the design of the
and generating thrust forces against the direction of incoming waves, which was vital for the design
station-keeping system of a floater in waves.
of the station-keeping system of a floater in waves.
Results proved that the active flapping can generate thrust forces for the station-keeping of a
Results proved that the active flapping can generate thrust forces for the station-keeping of a
floater in short waves. The magnitude of thrust forces can be controlled by adjusting the flapping
floater in short waves. The magnitude of thrust forces can be controlled by adjusting the flapping
frequency of the foil, and for further development of the flapping foil station-keeping system, CFD
can be a very efficient tool to evaluate the dynamic behavior of it.
J. Mar. Sci. Eng. 2019, 7, 396 13 of 14

frequency of the foil, and for further development of the flapping foil station-keeping system, CFD can
be a very efficient tool to evaluate the dynamic behavior of it.

5. Future Research
In the future, the total drag of prototype floater in short waves will be evaluated experimentally
and numerically. Drag forces must be neutralized by generating an equal amount of thrust forces to
achieve station-keeping goals. The present study would be useful in designing the number of foils to be
installed and corresponding flapping frequencies based on motor capacity. Further, a controller will be
developed to keep the floater drift within the allowable limit. Finally, the active mode station-keeping
prototype setup will be examined in the laboratory and open sea conditions.

Author Contributions: Conceptualization, validation, R.K. and H.S.; methodology, software, writing—original
draft preparation, R.K.; writing—review and editing, supervision, H.S.
Funding: This research was supported by the Korea Institute of Energy Technology Evaluation and Planning
(KETEP) grant funded by the Korea government (MOTIE) (20184030202280) and by Korea Electric Power
Corporation (R18XA03).
Conflicts of Interest: The authors declare no conflict of interest. The funders had no role in the design of the
study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to
publish the results.

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