How to apply hydrodynamics to custom ASVs

[IamGyal]

Hi,

I'm looking for a simulator where I can validate the math models of my custom ASV which has a manipulator attached underneath it, without the need to calculate hydrodynamics myself.

I found a presentation 'Design and Simulation of Autonomous Surface Vessels | MATLAB Day for Marine Robotics & Autonomous Systems, Part 4' where Simscape was introduced for modelling and simulating a ASV.

Would you be happy to share the Simscape model showed in the presentation with me, please? The model I'm referring to is in the picture below.

I'm specifically interested in the water environment which the ASV interacts with. I'm wondering how you applied the hydrodynamics and most importantly if it is possible to apply the hydrodynamics applied in your example to any custom ASV which has other body parts such as a manipulator as well.

Thank you very much.