EFFECT OF WATER CURRENT ON UNDERWATER GLIDER VELOCITY AND RANGE

2016 ◽  
Vol 78 (10-4) ◽  
Author(s):  
Muhammad Yasar Javaid ◽  
Mark Ovinis ◽  
Fakhruldin Mohd Hashim ◽  
Adi Maimun ◽  
Yasser M. Ahmed ◽  
...  

An autonomous underwater glider speed and range is influenced by water currents. This is compounded by a weak actuation system for controlling its movement. In this work, the effects of water currents on the speed and range of an underwater glider at steady state glide conditions are investigated. Extensive numerical simulations have been performed to determine the speed and range of a glider with and without water current at different net buoyancies. The results show that the effect of water current on the glider speed and range depends on the current relative motion and direction. In the presence of water current, for a given glide angle, glide speed can be increased by increasing the net buoyancy of the glider.

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Khalid Isa ◽  
M. R. Arshad

This paper presents a homeostatic controller algorithm and its performance, which controls motion of a hybrid-driven underwater glider. The homeostatic controller is inspired from a biological process known as homeostasis, which maintains a stable state in the face of massively dynamics conditions. The objective is to obtain a better control performance of the glider motion control system with a presence of disturbance, which is the water current. The algorithm was simulated by using MatlabTM. According to the simulation results, in order to achieve the desired pitch angle, the homeostatic controller was able to optimize the glider’s ballast mass and distance of the glider’s sliding mass by reducing the ballast mass up to 17.7% and shortening the sliding mass distance up to 53.7% when compared with the linear-quadratic regulator (LQR) and model predictive control (MPC). Furthermore, validation analyses of the homeostatic controller performance between the simulation and experimental results have shown very satisfactory performance.  


2016 ◽  
Vol 44 (3) ◽  
pp. 174-190 ◽  
Author(s):  
Mario A. Garcia ◽  
Michael Kaliske ◽  
Jin Wang ◽  
Grama Bhashyam

ABSTRACT Rolling contact is an important aspect in tire design, and reliable numerical simulations are required in order to improve the tire layout, performance, and safety. This includes the consideration of as many significant characteristics of the materials as possible. An example is found in the nonlinear and inelastic properties of the rubber compounds. For numerical simulations of tires, steady state rolling is an efficient alternative to standard transient analyses, and this work makes use of an Arbitrary Lagrangian Eulerian (ALE) formulation for the computation of the inertia contribution. Since the reference configuration is neither attached to the material nor fixed in space, handling history variables of inelastic materials becomes a complex task. A standard viscoelastic material approach is implemented. In the inelastic steady state rolling case, one location in the cross-section depends on all material locations on its circumferential ring. A consistent linearization is formulated taking into account the contribution of all finite elements connected in the hoop direction. As an outcome of this approach, the number of nonzero values in the general stiffness matrix increases, producing a more populated matrix that has to be solved. This implementation is done in the commercial finite element code ANSYS. Numerical results confirm the reliability and capabilities of the linearization for the steady state viscoelastic material formulation. A discussion on the results obtained, important remarks, and an outlook on further research conclude this work.


Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Feifan Zhang ◽  
Wenjiao Zhou ◽  
Lei Yao ◽  
Xuanwen Wu ◽  
Huayong Zhang

In this research, a continuous nutrient-phytoplankton model with time delay and Michaelis–Menten functional response is discretized to a spatiotemporal discrete model. Around the homogeneous steady state of the discrete model, Neimark–Sacker bifurcation and Turing bifurcation analysis are investigated. Based on the bifurcation analysis, numerical simulations are carried out on the formation of spatiotemporal patterns. Simulation results show that the diffusion of phytoplankton and nutrients can induce the formation of Turing-like patterns, while time delay can also induce the formation of cloud-like pattern by Neimark–Sacker bifurcation. Compared with the results generated by the continuous model, more types of patterns are obtained and are compared with real observed patterns.


2013 ◽  
Vol 312 ◽  
pp. 80-84 ◽  
Author(s):  
Jin Liu ◽  
Yan Hui Wang ◽  
Yu Hong Liu ◽  
Fang Liu

Autonomous Underwater Glider (AUG) is a kind of unmanned underwater robot. Weight reduction is an effective measure to extend the duration performance and increase the carrying capacity of the AUG. In this paper, on the basis of the application of ANSYS-workbench, optimization for the structure and mass of the pressure hull of the AUG was conducted through the goal-driven optimization (GDO) method. After optimization, the total mass was reduced from 12.74 kg to 11.06 kg. The present work plays a key role for improving duration performance of AUG.


1992 ◽  
Vol 166 (1) ◽  
pp. 61-81
Author(s):  
EDWARD M. GOOLISH

Killifish, Fundulus heteroclitus, subjected to artificial lift above their center of gravity (10% of body weight) required a minimum of 7–8 days to resorb swimbladder gases completely. The swimbladders of some fish, however, did not fall below 50% of normal volume. The rate of increase in swimbladder volume upon removal of lift varied little among individuals, with approximately 6 days required for complete refilling. Previous deflation of the swimbladder (by syringe) did not result in faster or more complete gas resorption when the fish were subjected to artificial lift. This suggests that the constraint to resorption observed in some fish is not mechanical, e.g. connective tissue, but may reflect individual variability in perception of the stimulus. Swimbladder dry mass, which scaled as (body mass)0.79, was not affected by exposure to artificial lift. However, fish subjected to 7–11 days of artificial lift displayed slower rates of gas secretion upon removal of lift than control fish whose swimbladders had been evacuated by syringe. The initial rate was 65 % of that of control fish, with two additional days required to achieve normal buoyancy. Also, the rate of swimbladder gas resorption was 24 % faster the second time fish were exposed to artificial lift. These results demonstrate that the capacity for gas secretion and resorption can be altered by previous exposure to hydrostatic challenges. Killifish buoyancy, expressed as swimbladder volume per weight of the gas-free fish in water, fell from 0.95 to 0.70 mlg−1 after 5 days of exposure to water current. Removal of the pectoral fins eliminated 70% of this decrease, while removal of the pelvic fins had no effect. The rate of gas resorption by fish subjected to artificial lift was also not affected by removal of the pectoral fins. From these results it appears that the decrease in swimbladder volume in fish exposed to water currents is a consequence of lift forces produced by the pectoral fins, but that they are not required for regulation. Fish exposed to water currents or artificial lift swim with a head-down angle of attack. Theoretical estimates show that the vertical force component generated by this swimming behavior is of the appropriate magnitude to compensate for the additional lift. Fish confined in transparent cages near the surface of the water were less buoyant (0.91 mlg−1) than fish similarly maintained at the bottom of the tank (0.98mlg−1). However, because this effect was small, 10% of swimbladder volume, visual perception of vertical position is apparently not the primary stimulus for volume regulation. Partial lift (2.65 % of body weight) resulted in the resorption of twice as much swimbladder gas when attachment was anterior to the fish's center of gravity than when it was an equal distance posterior to the center of gravity. When equal amounts of partial lift and weight were added, lift anterior and weight posterior, no change in swimbladder volume occurred. With the position of these forces reversed, swimbladder volume increased by 31 % to 1.27 ml g−1. These results suggest that fish respond to pitching forces, i.e. longitudinal lift moments, as a stimulus for swimbladder gas secretion and resorption.


2021 ◽  
Author(s):  
A. A. Gde Jenana Putra ◽  
Bambang Riyanto Trilaksono ◽  
Egi Muhammad Idris Hidayat

Author(s):  
Chiara Mellucci ◽  
Prathyush P. Menon ◽  
Christopher Edwards ◽  
Peter Challenor

Author(s):  
Marco Tarabini ◽  
Hermes Giberti ◽  
Silvio Giancola ◽  
Matteo Sgrenzaroli ◽  
Remo Sala ◽  
...  

Recent researches proved that the underbridge geometry can be reconstructed by mounting a 3D laser scanner on a motorized cart travelling on a walkway located under the bridge. The walkway is moved by a truck and the accuracy of the bridge model depends on the accuracy of the trajectory of the scanning head with respect to a fixed reference system. In this paper, we describe the metrological characterization of a method that uses non-contact systems to identify the relative motion of the cart with respect to the walkway; the orientation of the walkway with respect to the bridge is determined using inclinometers and optical rails, while the position of the truck with respect to the bridge is measured using a conventional odometer.  The measurement uncertainty of the proposed system was initially evaluated by numerical simulations and successively verified by experiments in laboratory conditions. The complete system has then been tested in operative conditions; the validity of the proposed approach has been demonstrated by comparing the geometry of buildings reconstructed with the proposed system with the geometry obtained with a static scan. Results evidenced that the errors are approximately 6 mm.


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