Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

Underwater gliders are a class of Autonomous Underwater Vehicles (AUVs) that offer many advantages over traditional AUVs. Previous research has mainly focused on underwater gliders with fixed wings. This paper studied a novel underwater glider whose wings can pitch independently about its installed shaft, called Movable-Winged Underwater Glider (MWUG). A 6-DOF model of dynamics for MWUG was developed based on Newton’s law and Euler’s equation, gravity, buoyancy, added mass forces and hydrodynamic forces considered. Longitudinal motion simulations were conducted to clarify the motion characteristics of MWUG. Results of the simulations indicated that compared to fix-winged gliders, MWUGs show a smaller glide angle and attack angle, higher glide speed and efficiency

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The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v4i2.pp150-155 ◽

2015 ◽

Vol 4 (2) ◽

pp. 150

Author(s):

M. Ghazal ◽

A. Talezadeh ◽

M. Taheri ◽

M. Nazemi-Zade

Keyword(s):

Mobile Robot ◽

Dynamic Analysis ◽

Dynamic Modeling ◽

Kinematic Model ◽

Dynamic Equations ◽

Motion Simulation ◽

Governing Equations ◽

Kinematic Constraints ◽

Extended Application ◽

The Matrix

To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived. Furthermore, dynamic model of the robot is developed by consideration of kinematic constraints. To derive dynamic equations of the robot, the Lagrange multiplier method is employed and the governing equations of the robot in state-pace form are presented. Then, some simulations are presented to show applicability of the proposed formulation for dynamic analysis of the mobile robot HILARE.

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Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Applied Sciences ◽

10.3390/app11178212 ◽

2021 ◽

Vol 11 (17) ◽

pp. 8212

Author(s):

Jiafeng Huang ◽

Hyeung-Sik Choi ◽

Dong-Wook Jung ◽

Ji-Hyeong Lee ◽

Myung-Jun Kim ◽

...

Keyword(s):

Steady State ◽

Buoyancy Force ◽

Vertical Plane ◽

Power Source ◽

Motion Simulation ◽

Underwater Glider ◽

Simulation Performance ◽

Underwater Gliders ◽

Simulation Results ◽

Sea Currents

Net buoyancy, as the main power source for the motion of an underwater glider, is affected by the pump or bladder that the glider adopts to change its buoyancy force in water. In this study, a new underwater glider that can dive to a depth of 400 m at a cruising speed of 2 knots, which is faster than conventional underwater gliders and is less affected by sea currents, is investigated. The UG resisting 400 m pressure on the buoyancy engine and achieving 2 knots’ speed was designed and constructed. For this UG, its steady-state attitude was studied according to the variance of the buoyancy center and the center of gravity with the buoyancy engine influenced by the displacement of the movable mass block. In motion simulation of the UG, the attitude of the UG under different displacement conditions was simulated in Simulink according to the displacements of the piston and the movable mass block. To validate the simulation performance, a UG was constructed and experiments were conducted. The simulation and experimental results were compared to show the reliability of the simulation results under limited conditions.

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CFD Approach to Modelling Hydrodynamic Characteristics of Underwater Glider

Transactions on Aerospace Research ◽

10.2478/tar-2019-0021 ◽

2019 ◽

Vol 2019 (4) ◽

pp. 32-45

Author(s):

Kamila Stryczniewicz ◽

Przemysław Drężek

Keyword(s):

Flow Behavior ◽

Equations Of Motion ◽

Vertical Plane ◽

Dynamic Modelling ◽

The Body ◽

Hydrodynamic Characteristics ◽

Motion Simulation ◽

Underwater Glider ◽

Lift And Drag ◽

Equations Of Motions

Abstract Autonomous underwater gliders are buoyancy propelled vehicles. Their way of propulsion relies upon changing their buoyancy with internal pumping systems enabling them up and down motions, and their forward gliding motions are generated by hydrodynamic lift forces exerted on a pair of wings attached to a glider hull. In this study lift and drag characteristics of a glider were performed using Computational Fluid Dynamics (CFD) approach and results were compared with the literature. Flow behavior, lift and drag forces distribution at different angles of attack were studied for Reynolds numbers varying around 105 for NACA0012 wing configurations. The variable of the glider was the angle of attack, the velocity was constant. Flow velocity was 0.5 m/s and angle of the body varying from −8° to 8° in steps of 2°. Results from the CFD constituted the basis for the calculation the equations of motions of glider in the vertical plane. Therefore, vehicle motion simulation was achieved through numeric integration of the equations of motion. The equations of motions will be solved in the MatLab software. This work will contribute to dynamic modelling and three-dimensional motion simulation of a torpedo shaped underwater glider.

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