Simscape model of ASV

[IamGyal]

Dear Martin Luo,

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 your presentation 'Design and Simulation of Autonomous Surface Vessels | MATLAB Day for Marine Robotics & Autonomous Systems, Part 4' where you introduced Simscape for modelling a USV.

Would you be happy to share the Simscape model you 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 vehicle as well.

Thank you very much.