BoatSimulation with PyTorch and Numpy

An original and useful code for boat simulation

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'Discrete3DHull_Pytorch.py' is the pytorch version of the main file running on GPU.

Only this version is now still in maintance, make sure to use this as if you have GPU.

You can use it to initialize a 3D boat with an arbitary function and to add ballasts and masts to your boat.

After this, you will be able to calculate the center of mass and center of buoyancy of your boat, with which you can obtain its waterline and righting moment.

In the end, the program will tell you whether your boat is stable and give you some instinct results.

'Discrete3DHull_Pytorch.py' is the numpy version of the main file running on CPU.

'plotAlgebraic3DHull.py' is a program file with which you can visualize any algebric boat you want.

Enjoy this program!

Final Work:

Boat Test:

The boat test video is here: https://drive.google.com/open?id=1xxnOqMBaFyNcgnLHjJZ1gzvoHRIJBtvC

3D Print:

All the 3D print source files you need, including solidworks file, STL generating tools written with matlab(This program is modified on other people's work), gcode file that could be printed directly on Ultimaker, are here: https://drive.google.com/open?id=1Zk6Com191bygU-sJWlvQdeYMoig3mTV4

You can also find a part of this in /3D print folder due to the space limitation.

Feedback:

I know very clearly that this program is still far from maturation. If you have any questions or find any bugs, please feedback to me via email [email protected].

Notice:

It's not permitted for students in HKUST's QEA class to copy any part of this code directly before they submit their code, or it will be treated as cheating.

Example Outputs:

Output:

This is Loop:  0

COM:  237 237 81

Weight Before Ballast: 0.00252125458791852
Weight After Ballast:  1.2640440464019775
Weight After Mast:  1.3301390409469604

COM:  237 237 76 

Processed: 0.02%     Loss: -1     waterOffsetLowerBound: -1312     waterOffsetUpperBound: 1968
Processed: 0.04%     Loss: -1.0     waterOffsetLowerBound: -1312     waterOffsetUpperBound: 328
Processed: 0.06%     Loss: 0.4679352939128876     waterOffsetLowerBound: -492     waterOffsetUpperBound: 328
Processed: 0.08%     Loss: -0.7308024168014526     waterOffsetLowerBound: -492     waterOffsetUpperBound: -82
Processed: 0.1%     Loss: 0.4653424322605133     waterOffsetLowerBound: -287     waterOffsetUpperBound: -82
Processed: 0.12%     Loss: -0.08605213463306427     waterOffsetLowerBound: -287     waterOffsetUpperBound: -184
Processed: 0.13999999999999999%     Loss: 0.2516588270664215     waterOffsetLowerBound: -235     waterOffsetUpperBound: -184
Processed: 0.16%     Loss: 0.08304774761199951     waterOffsetLowerBound: -209     waterOffsetUpperBound: -184

SubmergedVolume:  0.001328026526607573
Weight of Displaced Water:  1.3240424470277503
Weight of Boat:  1.3301390409469604

Done 

Loss=  -0.4583431873470545 % 
Offset =  -196
Buoyancy Torque under  120  degrees:  0.012794669516966006  N * M

COM:  [237, 237, 580]
COB:  [237, 256, 568]

It can recover

The height of Boat is:  0.1067
The Length of Boat is:  0.198
The Width of Boat is:  0.1782

This is Loop:  1

COM:  237 237 81

Weight Before Ballast: 0.00252125458791852
Weight After Ballast:  1.2640440464019775
Weight After Mast:  1.3301390409469604

COM:  237 237 76 

Processed: 0.02%     Loss: -1     waterOffsetLowerBound: -1312     waterOffsetUpperBound: 1968
Processed: 0.04%     Loss: -1.0     waterOffsetLowerBound: -1312     waterOffsetUpperBound: 328
Processed: 0.06%     Loss: 0.4679352939128876     waterOffsetLowerBound: -492     waterOffsetUpperBound: 328
Processed: 0.08%     Loss: -0.9328624606132507     waterOffsetLowerBound: -492     waterOffsetUpperBound: -82
Processed: 0.1%     Loss: 0.4679352939128876     waterOffsetLowerBound: -287     waterOffsetUpperBound: -82
Processed: 0.12%     Loss: 0.09061288833618164     waterOffsetLowerBound: -184     waterOffsetUpperBound: -82
Processed: 0.13999999999999999%     Loss: -0.5431023836135864     waterOffsetLowerBound: -184     waterOffsetUpperBound: -133
Processed: 0.16%     Loss: -0.24674388766288757     waterOffsetLowerBound: -184     waterOffsetUpperBound: -158
Processed: 0.18%     Loss: -0.07777969539165497     waterOffsetLowerBound: -184     waterOffsetUpperBound: -171

SubmergedVolume:  0.0013352405512705445
Weight of Displaced Water:  1.331234829616733
Weight of Boat:  1.3301390409469604

Done 

Loss=  0.0823802431114018 % 
Offset =  -177
Buoyancy Torque under  140  degrees:  -0.017293643294573724  N * M

COM:  [237, 237, 580]
COB:  [237, 252, 564]

RightMomentList:  [0.012794669516966006, -0.017293643294573724]