scholarly journals Frequency method for measuring the angular coordinates of an underwater vehicle by a hydroacoustic system of local positioning.

2021 ◽  
Vol 2021 (3) ◽  
Author(s):  
V.I. Kaevitser ◽  
◽  
A.P. Krivtsov ◽  
I.V. Smolyaninov ◽  
A.V. Elbakidze ◽  
...  
Keyword(s):  
Autonomous Vehicle ◽  
Field Tests ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Spatial Position ◽  
Practical Application ◽  
Frequency Method ◽  
Chirp Signals ◽  
Angular Coordinates ◽  
Spaced Antennas

The article is devoted to the application of the frequency method of measuring the angular coordinates of underwater vehicles by a positioning system which uses chirp signals. The method is designed to determine the spatial position of an underwater vehicle based on the signals of an installed acoustic beacon and uses measurements of the frequency difference of chirp signals received by two or more spaced antennas with a given spatial position. The experiment demonstrates possibility of the practical application the method for measuring the bearings of a towed or autonomous vehicle. The article presents the results of modeling and field tests of the considered calculating angular coordinate method.

QUATERNION-BASED ATTITUDE CONTROL OF HIGHLY MANEUVERABLE UNMANNED UNDERWATER VEHICLE

2021 ◽  
Vol 54 (2) ◽  
pp. 106-112
Author(s):  
GAVRILINA EKATERINA A. ◽  
◽  
VELTISHEV VADIM V. ◽  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Simple Structure ◽  
Synthesis Method ◽  
Field Tests ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Euler Angles ◽  
Unmanned Underwater Vehicles ◽  
Unmanned Underwater Vehicle

Traditionally, unmanned underwater vehicles are operated at low angles of inclination (pitch and roll). However, there are tasks that require high maneuverability and controllability of the underwater vehicle in the entire range of orientation angles. At the same time, traditional control systems use the Euler angles and have limitations associated with the degeneration of the kinematic equations at a picth angle of ± 90 °, the problem of the non-uniqueness of the Euler angles, and the deterioration of the system performance at large inclinations of the vehicle. Thus, the question of developing a synthesis method for a control system for highly maneuverable unmanned underwater vehicles arises. The paper provides a review and comparative analysis of existing approaches to attitude control, on the basis of which an approach using quaternions is chosen. The law of attitude control based on quaternions was approved during field tests on a hybrid unmanned underwater vehicle "Iznos", developed at Bauman Moscow State Technical University. The results obtained during the tests are given in the article. The quaternion-based approach has better performance in comparison with the traditional control system. In addition, control system based on quaternion approach has a simple structure and can be used to increase the maneuverability of unmanned underwater vehicles with average requirements for positioning accuracy.

scholarly journals Optimal design of nose and tail of an autonomous underwater vehicle hull to reduce drag force using numerical simulation

2019 ◽  
Vol 234 (1) ◽  
pp. 76-88 ◽  
Author(s):  
Mohammad Saghafi ◽  
Roham Lavimi
Keyword(s):  
Energy Consumption ◽  
Drag Force ◽  
Autonomous Underwater Vehicle ◽  
Turbulence Modeling ◽  
Stokes Equations ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Navier Stokes

In this research, the flow around the autonomous underwater vehicles with symmetrical bodies is numerically investigated. Increasing the drag force in autonomous underwater vehicles increases the energy consumption and decreases the duration of underwater exploration and operations. Therefore, the main objective of this research is to decrease drag force with the change in geometry to reduce energy consumption. In this study, the decreasing or increasing trends of the drag force of axisymmetric bare hulls have been studied by making alterations in the curve equations and creating the optimal geometric shapes in terms of hydrodynamics for the noses and tails of autonomous underwater vehicles. The incompressible, three-dimensional, and steady Navier–Stokes equations have been used to simulate the flow. Also, k-ε Realizable with enhanced wall treatment was used for turbulence modeling. Validation results were acceptable with respect to the 3.6% and 1.4% difference with numerical and experimental results. The results showed that all the autonomous underwater vehicle hulls designed in this study, at an attack angle of 0°, had a lower drag force than the autonomous underwater vehicle hull used for validation except geometry no. 1. In addition, nose no. 3 has been selected as the best nose according to the lowest value of stagnation pressure, and also tail no. 3 has been chosen as the best tail due to the production of the lowest vortex. Therefore, geometry no. 5 has been designed using nose and tail no. 3. The comparison made here showed that the maximum drag reduction in geometry no. 5 was equal to 26%, and therefore, it has been selected as the best bare hull in terms of hydrodynamics.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

2018 ◽  
Vol 212 (1) ◽  
pp. 105-123
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Final Report ◽  
Level Control ◽  
Low Level

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Navigation and Autonomous Operation

2018 ◽  
Vol 213 (2) ◽  
pp. 53-67 ◽  
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Vehicle Navigation ◽  
Final Report ◽  
Autonomous Operation

Abstract The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.

scholarly journals Design of Automatic Operated Modular Underwater Vehicle System for Marine Ranch BreedingDesign of Automatic Operated Modular Underwater Vehicle System for Marine Ranch Breeding

2021 ◽  
Author(s):  
ZhongRen Zhang ◽  
FengBao Xu ◽  
PeiJun Li ◽  
XinBao Wang ◽  
FuXiang Liu ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Marine Resources ◽  
Main Body ◽  
Robot System ◽  
Vehicle System ◽  
The World ◽  
Development And Utilization ◽  
Dead Fish ◽  
Root Module

Abstract As terrestrial resources gradually cannot meet people's needs, Countries around the world gradually increase the development and utilization of marine resources. The emergence of marine ranching overcomes many disadvantages of traditional fishery, but there is still a distance from unattended intelligent marine ranch. In this paper, designed a kind of unattended modular underwater robot system which used in marine ranch, including the main body for cage monitoring, the robot module for cleaning and repairing of net clothes and recycling of dead fish, while designed a underwater interfacing apparatus for the main body and root module,This paper introduces the underwater vehicles system of marine ranching, and designs the main body and working module in detail. This paper simply describes the interfacing process of the underwater workstation with the main body and modules.The research results of this paper compensate for the gaps in marine ranch engineering equipment and technology, and meantime proposed an underwater vehicle for cage repairing and dead fish recycling, which uses modular ideas, it can reduces costs and this paper strongly promotes the development of intelligence and automation level of marine ranching.

scholarly journals Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey

2021 ◽  
Vol 2129 (1) ◽  
pp. 012080
Author(s):  
Chinonso Okereke ◽  
Nur Haliza Abdul Wahab ◽  
Mohd Murtadha Mohamad ◽  
S H Zaleha
Keyword(s):  
Energy Storage ◽  
Crucial Role ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
The Internet ◽  
The Earth ◽  
Future Work

Abstract Water, mostly oceans, covers over two-third of the earth. About 95% of these oceans are yet to be explored which includes 99% of the sea-beds. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and longer energy storage. In order for AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the challenges of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV. A summary and suggestion for future work was discussed.

Safe Navigation Algorithm for Autonomous Underwater Vehicles

2021 ◽  
Vol 29 (1) ◽  
pp. 97-110
Author(s):  
V.S. Bykova ◽  
◽  
A.I. Mashoshin ◽  
I.V. Pashkevich ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Limited Size ◽  
Safe Navigation ◽  
Navigation Algorithm ◽  
Navigation Algorithms ◽  
Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

A Hybrid Class Underwater Vehicle: Bioinspired Propulsion, Embedded System, and Acoustic Communication and Localization System

2011 ◽  
Vol 45 (4) ◽  
pp. 153-164 ◽  
Author(s):  
Michael Krieg ◽  
Peter Klein ◽  
Robert Hodgkinson ◽  
Kamran Mohseni
Keyword(s):  
Embedded System ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Underwater Communication ◽  
Acoustic System ◽  
Rf Transceiver ◽  
High Frequencies ◽  
Localization System ◽  
Hybrid Class ◽  
Key Features

AbstractInspired by the natural locomotion of jellyfish and squid, a series of compact thrusters series is developed for propulsion and maneuvering of underwater vehicles. These thrusters successively ingest and expel jets of water in a controlled manner at high frequencies to generate propulsive forces. The parameters controlling the performance of the thrusters are reviewed and investigated to achieve higher thrust levels. The thrusters are compact and can be placed completely inside a vehicle hull providing the desired maneuvering capability without sacrificing a sleek hydrodynamic shape for efficient cruising. The system design of a prototype hybrid vehicle, called CephaloBot, utilizing these thrusters, is also presented. A compact and custom-developed embedded system is also designed for the CephaloBot. Key features of the system include a base set of navigational sensors, an acoustic system for localization and underwater communication, Xbee RF transceiver for communication above water, and a LabVIEW programmed processing board.

Multi-autonomous underwater vehicles collaboratively search for intelligent targets in an unknown environment in the presence of interception

2020 ◽  
pp. 095440622094362
Author(s):  
Xi-wen Ma ◽  
Yan-li Chen ◽  
Gui-qiang Bai ◽  
Yong-bai Sha ◽  
Jun Liu
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Full Range ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Layer By Layer ◽  
Self Organizing Map ◽  
Unknown Environment ◽  
Underwater Environment ◽  
Wave Diffusion

We present a bionic neural wave network that uses multiple autonomous underwater vehicles to search and acquire intelligent targets in an unknown underwater environment. The neuron pheromone content is arranged according to neural wave diffusion and layer-by-layer energy attenuation, when underwater mesh space based on neural wave diffusion theory was established that the neuron nodes in the neural network structure correspond to obstacles, autonomous underwater vehicles, and targets in the environment. In order to solve the problems of over-allocation and under-allocation of the multi-autonomous underwater vehicles system during the cooperative capture of targets, a redistribution mechanism based on the improved self-organizing map algorithm is implemented and directed to rationalize task distribution. Two different taboo search methods are employed to update the autonomous underwater vehicle path in real time, and the polynomial coefficient solution method is used to fit partial path data. So that the autonomous underwater vehicle trajectory can be obtained and an interceptor position coordinate can be predicted. An auxiliary autonomous underwater vehicle is aimed to replace the intercepted autonomous underwater vehicle and the matching capture points are tracked to ensure the completion of the task so that the full range of hunting targets is identified. In order to simulate an unknown complex underwater environment, obstacles are randomly arranged around the target, the location information of the obstacle, and the target is unknown and unpredictable. Four simulation experiments were performed to verify the accuracy and efficiency of the algorithm under unknown environment. The results show that this algorithm can improve the path update average efficiency by 66% compared with other algorithms. Obviously, this algorithm is reasonable and effective.

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