Evaluation of Moonpool Effects on Hydrodynamic Resistance of a Supply Vessel, Using Experimental and Numerical Methods 2 2 Moonpool is an opening in the floor or base of a hull ship which can be used to lower tools and vehicles into the sea in a protected area. In this paper, the effect of a rectangular cross section moonpool on the resistance force of a supply vessel was investigated both by experimental and numerical methods. For both methods a 1:37.2 scale of a surface vessel was used. Experiments were carried out at various Froude numbers in the range of 0.185-0.370 in the towing tank for cases with moonpool, i.e, when the entrance at the bottom of the ship was open and without moonpool, i.e, when the entrance was closed. A two phase flow CFD simulation based on volume of fluid (VOF) method was used to calculate the resistance coefficients of the vessel and to investigate fluid flow around the ship and inside the moonpool. The acquired numerical results showed fair agreement with the experimental results. The results showed that the resistance coefficient of the ship with moonpool was about 21 percent larger than that of the ship without moonpool. 1 9 2017/01/14 1395/10/25 2017/03/15 1395/12/25 Mohammad Shahabadi Mohammad Shahabadi Department of Mechanical Eng.; Isfahan Univ. of Tech iran Shahabadi_mohammad @yahoo.com Arash shadlaghani Arash shadlaghani Department of Mechanical Eng.; Isfahan Univ. of Tech iran A.shadlaghani@me.iut.ac.ir Shahriar Mansoorzadeh Shahriar Mansoorzadeh Subsea Science & Technology Institute; Isfahan Univ. of Tech iran Shahriar@cc.iut.ac.ir Ship resistance Moonpool Towing Tank tests CFD Simulation 1- Hammargren, E., Törnblom, J., (2012), Effect of the Moonpool on the Total Resistance of a Drillship, Msc Thesis, Department of Shipping and Marine Technology, Chalmers University of Technology, Sweden.##2- Van’t Veer, R., Tholen. H. (2008) Added resistance of moonpools in calm water, OMAE 57246, Estroil, Portugal.##3- Aalber, A.B., (1984), The water motions in a moonpool, Ocean Engineering, Vol. 11, No. 6, p. 557-579.##4- Fredriksen, A.G., Kristiansen, T., and and, Faltinsen, O.M., (2014), Experimental and numerical investigation of wave resonance in moonpools at low forward speed, Applied Ocean Research, Vol. 47, p.28–46.##5- Wang, B., Liu, Liqin., and Tang, Y., (2014), CFD Simulation of the Vertical Motion Characteristics of the Moonpool Fluid for the Truss Spar, Journal of Marine Science Application, Vol.13, p.92-98.##6- Matusiak, J., (1996) Water Column Motion in a Moonpool of a Ship, Rakenteiden Mekaniikka, Vol. 30, No. 2, p. 75-87.##7- Sadiq, S., Xiong-liang.Y., (2008), Multi-Dimensional Numerical Free Surface VOF Modeling with Moonpool Experiments, in Proceedings of the ASME 27th International Conference on Offshore Mechanics and Arctic Engineering, Estoril.##8- Alsgaard, J. A., (2010), Numerical investigations of Piston mode resonance in a moonpool using Open FOAM, M.Sc. Thesis, Department of Marine Technology, Norwegian University of Science and Technology.##9- Li-qin Liu., Han, Zhou., and You-gang, Tang., (2015), Coupling response of heave and moonpool water motion of a truss Spar platform in random waves, China Ocean Engineering, 29:2: p.169-182.##10- 15th ITTC, Recommended procedure performance, revision and propulsion, final release, 1978.##11- Shadlaghani, A., Mansoorzadeh, Sh., (2016) Calculation of Linear Damping Coefficients by Numerical Simulation of Steady State Experiments, journal of Applied Fluid Mechanics, Vol. 9, No. 2, p.653-660.## ##

Effects of Loading Conditions on Hydrodynamics of a Hard-Chine Planing Vessel Using CFD and a Dynamic Model 2 2 Planing vessels usually have low ratios of resistance to weight, so they can move fast on sea surface than the displacement or semi-displacement ships. Access to higher speeds is one of the attractions for designers and users. To achieve higher speeds, reducing the hydrodynamic resistance is a necessity for this class of vessels. In this study, a 3D finite volume approach is used to analyze the hydrodynamics of the Cougar high-speed vessel, a hard chine planing hull. In addition to use of the URANS equations for momentum, SIMPLE algorithm for coupling of the pressure and velocity field and the k-e for turbulence modeling, the fluid phases of air/water and the free surface are modeled using the volume of fraction (VOF) scheme. Moreover, in the simulations, instead fixing the freedom of the model regards to the computational domain, the vessel motions are also considered to have two degrees of freedom, 2-DOF, using the newly developed moving mesh technique of Overset. The grid independency study shows a good consistency between the numerical results and experiments for the vessel resistance, trim angles and the heave. Main emphasis of this paper is on study of the effects of different loading conditions, the vessel weight and the longitudinal center of gravity, on the hydrodynamic characteristics such as resistance, trim angle and the vessel sinkage. All of the numerical simulations are done using the commercial software of Star CCM+ 11 18 2017/01/142016/12/4 1395/9/14 2017/03/152017/03/15 1395/12/25 Hamid Kazemi Hamid Kazemi Imam Hossein University iran h.kazemi@gmail.com Mahmoud Salari Mahmoud Salari Imam Hossein University iran msalari@ihu.ac.ir Hydrodynamics Computational Fluid Dynamic Planing Vessel Moving Mesh Technique Loading Conditions 1-Doctors, L. J., (1985), Hydrodynamics of High-speed Small Craft, University of Michigan, Technical Report.##2-Savitsky, D., Morabito, M., (2010), Surface wave contours associated with the forebody wake of stepped planing hulls, Marine Technology, Vol. 47, No. 1, pp.1–16.##3- Lotfi, P., Ashrafizaadeh, M., Esfahan, R. K., (2015), Numerical investigation of a stepped planing hull in calm water, Ocean Engineering, Vol. 94, pp. 103–110.##4- Clement, E. P., Blount, D. L., (1963), Resistance tests of systematic series of planing hull forms, SNAME Transaction, Vol.71, pp. 491-579.##5- Seo, J., Choi, H. K., Jeong, U. C., Lee, D. K., Rhee, S. H., Jung, C. M., Yoo, J., (2016), Model tests on resistance and seakeeping performance of wave-piercing high-speed vessel with spray rails, International Journal of Naval Architecture and Ocean Engineering, Vol. 8, pp. 442-455.##6- Faltinsen, O. M., (2006), Hydrodynamics of High-Speed Marine Vehicles, Cambridge University Press, New York, NY 10011-4211, USA.##7- Caponnetto, M., (2001), Practical CFD simulations for planing hulls, Proceedings of Second International Euro Conference on High Performance Marine Vehicles, Hamburg, pp.128–138.##8- Ghassemi, H., Su, Y., (2008), Determining the hydrodynamic forces on a planing hull in steady motion, Journal of Marine Science and Application, Vol.7, pp. 147-156.##9- Brizzolara, S., Serra, F., (2007), Accuracy of CFD codes in the prediction of planing surfaces hydrodynamic characteristics, Second International Conference on Marine Research and Transportation, pp. 147–159.##10- Savitsky, D., (1964), Hydrodynamic design of planing hull, Marine Technology, Vol. 1, No. 1, pp. 71-95.##11- Shuford, C. L., (1958), A Theoretical and Experimental Study of Planing Surfaces Including Effects of Cross Section and Plan Form, NACA report-1355.##12- Hay, A., Leroyer, A., Visonneau, M., (2006), H-adaptive Navier–Stokes simulations of free-surface flows around moving bodies, Journal of marine science and technology, Vol. 11, pp. 1-18.##13- Su, Y., Chen, O., Shen, H., Lu, W., (2012), Numerical Simulation of a Planing Vessel at High Speed, Journal of Marine Science and Application, Vol. 11, pp.178-183.##14- Garland, W. R., Maki, K. J., (2012), A numerical study of a two-dimensional stepped planing surface, Journal of Ship Production, Vol. 28, No. 2, pp. 60–72.##15- Makasyeyev, M. V., (2009), Numerical modeling of cavity flow on bottom of a stepped planing hull, Proceedings of the Seventh International Symposium Cavitation.##16- Ghadimi, P., Tavakoli, S., Dashtimanesh, A., Pirooz, A., (2014), Developing a Computer Program for Detailed Study of Planing Hull’s Spray Based on Morabito’s Approach, Journal of Marine Science and Application, Vol. 13, pp. 402-415.##17- Taunton, D., Hudson, D., Shenoi, R., (2010), Characteristics of a series of high speed hard chine planing hulls-part 1: performance in calm water, International Journal of Small Craft Technology, Vol. 152, pp. 55–75.##18-Wang, S., Su, Y., Zhang, X., Yang, J., (2012), RANSE Simulation of High-speed Planing Craft in Regular Waves, Journal of Marine Science and Application, Vol. 11, pp. 447-452.##19-Ferziger, H. J., Peric, M., (2002), Computational Methods for Fluid Dynamics, third rev. edition, chapter 9.##20- Yousefi, R., Shafaghat, R., & Shakeri, M. (2013), Hydrodynamic analysis techniques for high-speed planing hulls, Applied Ocean Research, Vol. 42, pp.105-113.##21- Panahi, R., Jahanbakhsh, E., Seif, M. S., (2009), Towards simulation of 3D nonlinear high-speed vessels motion, Ocean Engineering, Vol. 36, No. 3, pp. 256-265.##22- Sukas, O. F., Kinaci, O. K., Cakici, F., Gokce, M. K. (2017), Hydrodynamic assessment of planing hulls using overset grids.,Applied Ocean Research, Vol. 65, pp. 35-46.## ##

Time Domain Analysis of the Ventilation around the Partial Immersed Propeller Using Sliding Mesh Method 2 2 In this paper a computational method is presented for predicting the unsteady hydrodynamic forces acting on partial immersed propeller (SPP). In order to simulate the unsteady viscous flow around a SPP, a Reynolds-Averaged Navier–Stokes (RANS) solver is used. The time-accurate calculations are made by applying the sliding mesh method. Structured and unstructured mesh techniques are used. The method is applied in the case of the straight condition. Hydrodynamic coefficients are compared with experimental data and show good agreement between them. Also, ventilation pattern, pressure distribution and unsteady forces/moments on key blade of SPP is presented and discussed. 19 27 2017/01/142016/12/42016/12/29 1395/10/9 2017/03/152017/03/152017/03/15 1395/12/25 Ehsan Yari Ehsan Yari Department of Maine Engineering, Maleke Ashtar University of Technology iran ehsanyari11@gmail.com Partial immersed propeller RANS method Sliding mesh Unsteady forces/moments References##[1] Young, Y. L., and Kinnas, S. A., 2004,"Performance Prediction of Surface- Piercing Propellers." Journal of Ship Re-search, Vol. 28: pp. 288-304.##[2] Shiba, H, 1953,"Air-Drawing of Marine Propellers". Technical Report 9, Transportation Technical Research Institute. ##[3] Wang, D., 1977, "Water Entry and Exit of a Fully Ventilated Foil". Journal of Ship Research, 21:pp. 44–68. ##[4] Olofsson, N, 1996, "Force and Flow Characteristics of a Partially Submerged Propeller". PhD thesis, Department of Naval Architecture and Ocean Engineering, Chalmers University of Technology (CUT), Goteborg, Sweden. ##[5] Rose, J. C. and Kruppa, C. F. L, 1991,"Surface Piercing Propellers – Me-thodical Series Model Test Results". In FAST’91, Norway. ##[6] Kruppa, C. F. L, 1992," Testing Surface Piercing Propellers". In Hydrodynamics: Computations, Model Tests, and Reality, pp. 107–113.##[7] Rose, J. C., Kruppa, C. F. L., and Koushan, K, 1993,"Surface Piercing Propellers - Propeller/Hull Interaction". In FAST’93, pp.867–881, Japan. ##[8] Nozawa, K., Takayam, N., (2002). Experi-mental study on propulsive performance of SPP, Proceeding of the KSNAJ, No. 237. ##[9] Ferrando M., Scamardella A. Bose N. Liu P. Veitch B., (2002). Performance of family of surface piercing propellers, Royal Institution for Naval Architects (RINA) Transactions Part A.##[10] Ferrando M., Viviani M., Crotti S., Cassella P., Caldarella S., (2006). Influence of Weber number on surface piercing propellers model tests scaling, Proceedings of 7th International Conference on Hydrodynamics (ICHD), Ischia.##[11] Ferrando M., Crotti S., Viviani, M. (2007). Performance of a family of surface piercing propeller, the 2nd International Conference on Marine Research and Transportation (CMRT2007), Ischia, Naples, Italy. ##[12] Caponnetto M., 2002, "RANSE Simula-tions of Surface Piercing Propellers". Rolla Research.##[13] Young, Y. L. Kinnas. S. A, 2003, "Analysis of Supercavitating and Surface-Piercing Propeller Flows via BEM". Computational Mechanics 32, 269–280, Springer-Verlag.##[14] Koushan, K, 2004, "Environmental and Interaction Effects on Propulsion Systems Used in Dynamic Positioning, an Over-view". Proceedings of 9th International Symposium on Practical Design of Ships and other Floating Structures PRADS 2004, Lübeck-Travemünde, Germany.##[15] Bin Ji, Xianwu Luo, Yulin Wu, “Unsteady cavitation characteristics and alleviation of pressure fluctuations around marine propellers with different skew angles, Journal of Mechanical Science and Technology”, 2014, Volume 28, Issue 4, pp1339-1348. ##[16] Amromin E., 2014, "Development and validation of computational fluid dynamics models for initial stages of cavitation". J. Fluids Eng 136(8), 081303 (May 19, 2014) (8 pages).##[17] Ghassemi, H., 2009, "Hydrodynamic Characteristics of the Surface-Piercing Propellers for the Planing Craft". Journal of Marine Science and Application, December 2009, Volume 8, No 4, pp 267-274.##[18] Califano, A., Steen S., 2009, "Analysis of Different Propeller Ventilation Mechanisms by Means of RANS Simulations ". First International Symposium on Marine Propulsors, SMP’09, Trondheim, Norway, June.##[19] Kozlowska A. M., Wöckner K., Steen S., Rung T., Koushan K., Spence S., 2009, "Numerical and Experimental Study of Propeller Ventilation". First International Symposium on Marine Propulsors, SMP’09, Trondheim, Norway, June. ##[20] Vinayan, V., Kinnas, S. A, 2008, "Numerical Modeling of Surface Piercing Hydrofoils and Propellers". In Proceedings of the 27th Symposium on Naval Hydrodynamics. ##[21] Misra S. C., Gokarn R. P., Sha O. P., Su-ryanarayana C., Suresh R. V., 2012, "Development of a Four-Bladed Surface Piercing Propeller Series". Naval Engineers Journal, No. 124(4), 105-138.##[22] Himei, K., 2013, "Numerical Analysis of Unsteady Open Water Characteristics of Surface Piercing Propeller". 3rd International Symposium on Marine Propulsors SMP’13, Launceston, Tasmania, Australia, 292-297.##[23] Launder B. E. and Spalding D. B., 1972, “Lectures in Mathematical Models of Turbulence". Academic Press, London, England.#### ##

Sandbar Migration Due to Cross-Shore Sediment Transport; A Case Study of Noshahr Coasts, Iran 2 2 Cross-shore sediment transport is one of the effective factors in erosion and sedimentation, and affects dynamics of the beach profile in coastal areas. Furthermore, sandbar migration due to cross-shore sediment transport mostly effects beach nourishment, displacement of pollutions trapped in sediments, and organism and plants’ lives. In this manuscript, sandbar migration due to cross-shore sediment transport is studied and results have been compared to field data. Field data used here have been measured at the southern Caspian Sea, Noshahr coasts, Iran. During the measurement period, two high-energy events with significant wave height of approximately 1.4 m have been measured. All simulations have been done based on a one dimensional cross-shore transect. Wave transformation during propagation toward the coast has been modeled using the third generation model SWAN, and long-shore wave-induced current has been simulated by solving alongshore momentum equilibrium equation. To include the morphological change, the cross-shore sediment transport rate has been estimated using Bagnold [1966], Bowen [1980], and Bailard’s [1981] (BBB) energetic sediment transport model, and results has been compared to the model developed by Plant et al. [2001], which itself is an energetic model based on Bagnold [1966]. Finally, bathymetric changes has been forecasted by solving cross-shore mass conservation equation which indicated slight outperform of BBB rather than Plant et al. model in this study area. 29 37 2017/01/142016/12/42016/12/292016/12/5 1395/9/15 2017/03/152017/03/152017/03/152017/03/15 1395/12/25 Marzieh Hajiarabderkani Marzieh Hajiarabderkani Iran University of Science and Technology iran M_Hajiarabderkani@civileng.iust.ac.ir Seyed Mostafa Siadatmousavi Seyed Mostafa Siadatmousavi Iran University of Science and Technology iran siadatmousavi@iust.ac.ir Seyed Masoud Mahmoudof Seyed Masoud Mahmoudof University of Tehran iran m_mahmoudov@yahoo.com Sediment transport Sandbar Wave Current Numerical modelling 1- Feddersen, F., Guza, R. T., Elgar, S., & Herbers, T. H. C. (2000), Velocity moments in alongshore bottom stress parameterizations, Journal of Geophysical Research: Oceans, 105(C4), 8673-8686.##2- Haines, John W, and Asbury H Sallenger. (1994), Vertical structure of mean cross‐shore currents across a barred surf zone, Journal of Geophysical Research: Oceans, 99: 14223-42.##3- Longuet‐Higgins, Michael S. (1970), Longshore currents generated by obliquely incident sea waves: 1, Journal of geophysical research, 75: 6778-89.##4- Ruessink, BG, JR Miles, F Feddersen, RT Guza, and Steve Elgar. (2001), Modeling the alongshore current on barred beaches, Journal of geophysical research, 106: 22451-63.##5- Bagnold, RA. (1966), An approach to the sediment transport problem, General Physics Geological Survey, Prof. paper.##6- Bowen, A.J.. (1980), Simple models of nearshore sedimentation; beach profiles and longshore bars, Geological Survey of Canada: 1-11.##7- Bailard, James A. (1981), An energetics total load sediment transport model for a plane sloping beach, Journal of Geophysical Research: Oceans, 86: 10938-54.##8- Plant, NG, BG Ruessink, and KM Wijnberg. (2001), Morphologic properties derived from a simple cross-shore sediment transport model, JOURNAL OF GEOPHYSICAL RESEARCH-ALL SERIES-, 106: 945-58.##9- Roelvink, J.A. and Stive, M.J.F., (1989), Bar-generating cross-shore flow mechanisms on a beach Barre provoquant des mecanismes d'ecoulement perpendiculaires a la plage. J Geophys Res C Oceans 94 (4), 4785-4800.##10- Hoefel, Fernanda, and Steve Elgar. (2003), Wave-induced sediment transport and sandbar migration, Science, 299: 1885-87.##11- Thornton, EB, RT Humiston, and W Birkemeier. (1996), Bar/trough generation on a natural beach, Journal of Geophysical Research: Oceans, 101: 12097-110.##12- Gallagher, Edith L, Steve Elgar, and RT Guza. (1998), Observations of sand bar evolution on a natural beach, Journal of Geophysical Research: Oceans, 103: 3203-15.##13- Mahmoudof, S.M., Badiei, P., Siadatmousavi, S.M. and Chegini, V., (2016), Observing and estimating of intensive triad interaction occurrence in very shallow water. Continental Shelf Research, 122, pp.68-76.##14- Booij, N, RC Ris, and Leo H Holthuijsen. (1999), A third‐generation wave model for coastal regions: 1. Model description and validatio', Journal of Geophysical Research: Oceans, 104: 7649-66.##15- Whitham, G.B., (1965), A general approach to linear and non-linear dispersive waves using a Lagrangian. Journal of Fluid Mechanics, 22(02), pp.273-283.##16- Thornton, E.B. and Guza, R.T., (1983), Transformation of wave height distribution, Journal of Geophysical Research: Oceans, 88(C10), pp.5925-5938.##17- Sleath, John FA. (1984), Sea bed mechanics.##18- Lippmann, TC, AH Brookins, and EB Thornton. (1996), Wave energy transformation on natural profiles, Coastal Engineering, 27: 1-20.##19- van Rijn, L.C., Walstra, D.J.R., Grasmeijer, B., Sutherland, J., Pan, S. and Sierra, J.P., (2003), The predictability of cross-shore bed evolution of sandy beaches at the time scale of storms and seasons using process-based profile models, Coastal Engineering, 47(3), pp.295-327.##20- Bijker, E. W. (1968). Development of a third generation shallow-water wave model with unstructured spatial meshing. In 11th Coastal Engineering Conference Proceedings, ASCE, 11th Coastal Engineering Conference Proceedings (pp. 415-435).#### ##

Second Generation IMO Intact Stability Vulnerability Criteria and its Application to ships Navigating in Persian Gulf and Oman Sea 2 2 Second generation intact stability criteria for few past years had been under development by International Maritime Organization (IMO). Since the draft proposed amendments shall be amended to International code on Intact Stability (IS code 2008), new regulations shall enter into force for ships of length more than 24 meter. Generally second generation intact stability criteria (SGISC) refers to vulnerability ship stability modes which occurs when the ship navigating in rough seas. As waves passes the ship, dynamic phenomenon will affects ship stability that may lead to capsizing. Unlike IS code 2008, which study ship stability in calm water with a single level criteria, SGISC check the stability in different levels. In this method, if a ship passes only one level of criteria, means it is safe according to respective dynamic phenomena. In this article in order to understand the functionality of the proposed criteria in last draft amendment provided by IMO, numerical tools have been used to assess the effect of three phenomenon, pure loss of stability, parametric rolling, and surf-riding/broaching. Wide range of ships including fishing, passenger, cargo, Fiber glass and container ships, navigating in Persian gulf and Oman sea are considered to assess a comprehensive effects of proposed criteria. The results shows that all ships pass pure loss of stability and parametric rolling criteria but all passenger ships, 2 tugs, 1 fiberglass and 1 fishing vessel failed the surf riding/broaching criteria. It should be concluded that to pass the vulnerability criteria of surf riding, existing ships (specially passenger ships) should decrease their speed and new building vessels should be designed so that their Froude number do not encounter critical Froude number range as defined by the regulations. 39 48 2017/01/142016/12/42016/12/292016/12/52017/01/12 1395/10/23 2017/03/152017/03/152017/03/152017/03/152017/03/15 1395/12/25 Esmaeel Masoudi Esmaeel Masoudi MS.c, Amirkabir University of Technology, Technical Surveyor, Iranian Classification Societ iran e.masoudi@ics.org.ir IMO Pure Loss of Stability Parametric Rolling Broaching Surf-Riding 1- Resolution a.749 (18), (1993),Code on intact stability, International Maritime Organization (IMO)##2- Resolution a.167 (ES.IV), (1968), Recommendation on intact stability for passenger and cargo ships under 100 meters in length, International Maritime Organization (IMO)##3- Resolution MSC.267 (85), (2008), International code on intact stability IS code, International Maritime Organization (IMO)##4- SLF 48/21, (2005), Report to the maritime safety committee, Sub-committee on stability and loadlines and on fishing vessels safety, International maritime organization (IMO)##5- SLF 49/5/2, (2006), Revision of the intact stability code: Proposal of a probabilistic intact stability criterion, Sub-committee on stability and loadlines and on fishing vessels safety, International maritime organization (IMO)##6- SLF 51/4/4, (2008), Revision of the intact stability code: Further proposal for so-called new generation intact stability criteria, Sub-committee on stability and loadlines and on fishing vessels safety, International maritime organization (IMO)##7- Belenky, V .J.O. de Kat, and N. Umeda, (2008), Towards performance-based criteria for intact stability, Marine Technology, Vol. 45, No 2, pp.101-123##8- SLF 53/3/5, (2010), Development of new generation intact stability criteria: Comments on the structure of new generation intact stability criteria, Sub-committee on stability and loadlines and on fishing vessels saftey, International maritime organization (IMO)##9- Belenky. V, Bassler. C.C, Spyrou. K.J, (2011), Development of second generation intact stability criteria, Naval surface warfare center carderock division, Hydromechaic department group##10- SDC 2/WP.4, (2015), "Development of second generation intact stability criteria", Report of the working group (part 1), International maritime organization (IMO)##11- Jahanbakhsh. A, Masoodi, E., (2015), Second generation intact stability criteria, 17th maritime industry conference. (In Persian)##12- International Code on Intact Stability, (2008), International maritime organization (IMO)##13- Body Lines Plan, (2015), Document No. ETSACO-94-31P-01, Prepared by ETSACO, Approved by ICS## ## ##

Hybrid Adaptive Neural Network AUV controller design with Sliding Mode Robust Term 2 2 This work addresses an autonomous underwater vehicle (AUV) for applying nonlinear control which is capable of disturbance rejection via intelligent estimation of uncertainties. Adaptive radial basis function neural network (RBF NN) controller is proposed to approximate unknown nonlinear dynamics. The problem of designing an adaptive RBF NN controller was augmented with sliding mode robust term to improve trajectory tracking and regulation in presence of uncertainties. Moreover, stability proof of proposed control scheme was shown with Lyapunov theory. Furthermore, the control, design and simulation results are provided without any simplification of the entire system. Although the design approach of this paper is implemented on REMUS this point of view can be applied on any AUV using the same technique. 49 55 2017/01/142016/12/42016/12/292016/12/52017/01/122016/10/26 1395/8/5 2017/03/152017/03/152017/03/152017/03/152017/03/152017/03/15 1395/12/25 Behdad Geranmehr Behdad Geranmehr Young Researchers and Elite Club, BuinZahra Branch, Islamic Azad University iran Behdad.Geranmehr@gmail.com Kamran Vafaee Kamran Vafaee Young Researchers and Elite Club, BuinZahra Branch, Islamic Azad University iran Vafaee.Kamran@gmail.com AUV REMUS RBF NN SMC Adaptive. 1- Chu, Z. and D. Zhu. (2016), adaptive sliding mode heading control for autonomous underwater vehicle including actuator dynamics. in OCEANS 2016-Shanghai. 2016. IEEE.##2- Geranmehr, B. and S.R. Nekoo, (2015), nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent Riccati equation. Ocean Engineering, 2015. 96: p. 248-257.##3- Geranmehr, B. and S.R. Nekoo. (2014), the nonlinear suboptimal diving control of an autonomous underwater vehicle. in Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on. 2014. IEEE.##4- Geranmehr, B. and S.R. Nekoo. (2014) the state-dependent set-point regulation and tracking control of horizontal motion of AUV. in Robotics and Mechatronics (ICRoM), Second RSI/ISM International Conference on. 2014. IEEE.##5- Rezazadegan, F. and K. Shojaei. (2013) an Adaptive Control Scheme for 6-DOF Control of an AUV Using Saturation Functions. in Proceedings of the 3rd International Conference on Intelligent Computational Systems, April.##6- Mazinan, A., (2016) High-performance robust three-axis finite-time attitude control approach incorporating quaternion based estimation scheme to overactuated spacecraft. International Journal of Engineering-Transactions A: Basics, 2016. 29(1): p. 53.##7- Lewis, F.L., K. Liu, and A. Yesildirek, (1995) Neural net robot controller with guaranteed tracking performance. IEEE Transactions on Neural Networks, 1995. 6(3): p. 703-715.##8- Daachi, M., et al., (2015) A radial basis function neural network adaptive controller to drive a powered lower limb knee joint orthosis. Applied Soft Computing, 2015. 34: p. 324-336.##9- Lei, X. and P. Lu, (2014) The adaptive radial basis function neural network for small rotary-wing unmanned aircraft. IEEE Transactions on Industrial Electronics, 2014. 61(9): p. 4808-4815.##10- Fateh, M.M., S.M. Ahmadi, and S. Khorashadizadeh, (2014) adaptive RBF network control for robot manipulators. Journal of AI and Data Mining, 2014. 2(2): p. 159-166.##11- Chu, Y. and J. Fei, (2015) adaptive global sliding mode control for MEMS gyroscope using RBF neural network. Mathematical Problems in Engineering, 2015.##12- Fossen, T.I., (1994) Guidance and control of ocean vehicles. John Wiley & Sons Inc.##13- SNAM, E., (1952) nomenclature for treating the motion of a submerged body through a fluid JR. New York: Technical and Research Bulletin, 1952: p. 1-5.##14- Prestero, T., (2001) verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle. Massachusetts Institute of Technology and Woods Hole Oceanographic Institution.##15- Slotine, J.-J.E. and W. Li, (1991) applied nonlinear control. Vol. 199. prentice-Hall Englewood Cliffs, NJ.#### ##