scholarly journals Development of a Towed Underwater Platform That Can Operate in a Marine Environment and Explore the Sea Bottom

2022 ◽  
Vol 10 (1) ◽  
pp. 66
Author(s):  
Sung-Jo Yun ◽  
Hyo-Gon Kim ◽  
Jung-Woo Park ◽  
Hyo-Jun Lee ◽  
Jong-Chan Kim ◽  
...  
Keyword(s):  
Marine Environment ◽  
Power Supply ◽  
High Speed ◽  
Underwater Vehicle ◽  
Environmental Constraints ◽  
Joint Operation ◽  
Unmanned Surface Vehicle ◽  
Unmanned Underwater Vehicle ◽  
Sea Bottom

Owing to environmental constraints, it is challenging to stably conduct various missions or surveys of the seabed for a prolonged period in the marine environment. To address this challenge, several devices and technologies are being developed. In this study, we aimed to develop an unmanned underwater vehicle (UUV)—specifically, a towed underwater platform—that can be loaded and unloaded via joint operation with an unmanned surface vehicle, which can be connected to a wired cable to obtain a stable power supply and high-speed communication. In addition, various sensors for detection are employed to investigate the marine environment and conduct missions. Furthermore, we operated the developed UUV in actual waters, reviewed the results, and examined its practical operability.

scholarly journals Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable

2020 ◽  
Vol 8 (5) ◽  
pp. 318
Author(s):  
Sung Min Hong ◽  
Kyoung Nam Ha ◽  
Joon-Young Kim
Keyword(s):  
Dynamic Behavior ◽  
Equations Of Motion ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Motion Simulation ◽  
Dynamics Modeling ◽  
Lumped Mass ◽  
Unmanned Surface Vehicle ◽  
Unmanned Underwater Vehicle ◽  
Dynamic Simulator

This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration. The proposed unmanned ocean vehicle combines an unmanned surface vehicle and unmanned underwater vehicle with an underwater cable. This platform is connected by underwater cable, and the forces generated in each platform can influence each other’s dynamic motion. Therefore, before developing and operating an unmanned ocean platform, it is necessary to derive a dynamic equation and analyze dynamic behavior using it. In this paper, Newton’s second law and lumped-mass method are used to derive the equations of motion of unmanned surface vehicle, unmanned underwater vehicle, and underwater cable. As the underwater cable among the components of the unmanned ocean platform is expected to affect the motion of unmanned surface vehicle and unmanned underwater vehicle, the similarity of modeling is described by comparing with the cable modeling results and the experimental data. Finally, we constructed a dynamic simulator using Matlab and Simulink, and analyzed the dynamic behavior of the unmanned ocean platform through open-loop simulation.

scholarly journals Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1329 ◽  
Author(s):  
Mai The Vu ◽  
Mien Van ◽  
Duc Hong Phuc Bui ◽  
Quang Thang Do ◽  
Tuan-Tu Huynh ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Unmanned Surface Vehicle ◽  
Unmanned Underwater Vehicle ◽  
Coupling System ◽  
Body Dynamics ◽  
Ocean Environment ◽  
Umbilical Cable ◽  
The Time Domain ◽  
Multi Body ◽  
Underwater Exploration

This paper focuses on motion analysis of a coupled unmanned surface vehicle (USV)–umbilical cable (UC)–unmanned underwater vehicle (UUV) system to investigate the interaction behavior between the vehicles and the UC in the ocean environment. For this, a new dynamic modeling method for investigating a multi-body dynamics system of this coupling system is employed. Firstly, the structure and hardware composition of the proposed system are presented. The USV and UUV are modeled as rigid-body vehicles, and the flexible UC is discretized using the catenary equation. In order to solve the nonlinear coupled dynamics of the vehicles and flexible UC, the fourth-order Runge–Kutta numerical method is implemented. In modeling the flexible UC dynamics, the shooting method is applied to solve a two-point boundary value problem of the catenary equation. The interaction between the UC and the USV–UUV system is investigated through numerical simulations in the time domain. Through the computer simulation, the behavior of the coupled USV–UC–UUV system is analyzed for three situations which can occur. In particular, variation of the UC forces and moments at the tow points and the configuration of the UC in the water are investigated.

scholarly journals Selection of UUV Type ROV Equipment and Cooperation System with USV "Edredon" in Protection Tasks of Ports and Critical Objects

2019 ◽  
Vol 8 (2) ◽  
pp. 198-204
Author(s):  
Zygmunt Kitowski
Keyword(s):  
Underwater Vehicle ◽  
High Impact ◽  
Remotely Operated Vehicle ◽  
Unmanned Surface Vehicle ◽  
Vehicle Type ◽  
Unmanned Underwater Vehicle ◽  
Special Apparatus ◽  
Cooperation System ◽  
Very High ◽  
Selection Of

The article presents some of the problems associated with the use of an unmanned underwater vehicle type ROV (Remotely Operated Vehicle) to cooperate with the USV (Unmanned Surface Vehicle) "Edredon" carrying out tasks related to the perimetric protection of seaports infrastructure and critical objects. The system remote control of the underwater vehicle, requires the appropriate structure of the system ensuring the cooperation of both vehicles and the selection of the special apparatus mounted on the ROV. The tasks carried out by the both vehicles have a very high impact on the hardware solutions and cooperation of USV with an unmanned underwater vehicle.

scholarly journals Study on Unmanned Hybrid Unmanned Surface Vehicle and Unmanned Underwater Vehicle System

2020 ◽  
Vol 34 (6) ◽  
pp. 475-480
Author(s):  
Han-Sol Jin ◽  
Hyunjoon Cho ◽  
Ji-Hyeong Lee ◽  
Huang Jiafeng ◽  
Myung-Jun Kim ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Unmanned Surface Vehicle ◽  
Unmanned Underwater Vehicle ◽  
Vehicle System

Ensuring electrical safety of power supply systems of electrified AC railways for highspeed lines

2018 ◽  
Vol 77 (6) ◽  
pp. 337-346 ◽  
Author(s):  
A. B. Kosarev ◽  
A. V. Barch ◽  
E. N. Rozenberg
Keyword(s):  
Power Supply ◽  
High Speed ◽  
Structural Features ◽  
Electrical Safety ◽  
Safe Operation ◽  
Ballastless Track ◽  
Conventional Structure ◽  
Artificial Earth ◽  
Earth Connection ◽  
Supply Systems

Abstract. High-speed railways are fast-growing and promising type of traffic. In Russia development of high-speed railway service is associated with the solution of a number of problems, including infrastructure. Authors propose to use earth connection of the railway catenary with the help of an artificial earthing switch on currently designed high-speed line Moscow—Kazan for 2×25 kV power supply system. Taking into account requirements for electrical safety conditions for maintenance of the track and earthed catenary supports, paper justifies method for calculating allowable voltages of rail—earth points and supports of catenary. Methods takes into account structural features of ballastless track superstructure used for high-speed lines. It is estimated that the voltages admissible under the electrical safety conditions are random in nature and distributed logarithmically normal. When calculating probability of safe operation, one should take into account random nature of both permissible stresses and those actually occurring on the track. It is estimated that the probability of safe operation in traction networks of sections with ballastless track superstructure does not exceed a similar value in electrified sections with the conventional structure of a ballast prism. Feasibility of using a 2×25 kV earth system using an artificial earth connection is confirmed, recommendations on its use are given. Authors substantiate allowable values of the rail—earth voltage and catenary supports, which practically exclude the occurrence of hazardous situations for personnel maintaining the track in sections with ballastless track superstructure.

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