A Mechatronic Description of an Autonomous Underwater Vehicle for Dam Inspection

2013 ◽  
pp. 186-201
Author(s):  
Ítalo Jáder Loiola Batista ◽  
Antonio Themoteo Varela ◽  
Edicarla Pereira Andrade ◽  
José Victor Cavalcante Azevedo ◽  
Tiago Lessa Garcia ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Environmental Parameters ◽  
Underwater Vehicle ◽  
Fast Response ◽  
Hydropower Plant ◽  
Lake Ecosystem ◽  
Underwater Robotics ◽  
Structure Monitoring ◽  
Commercial Applications ◽  
And Storage

Driven by the rising demand for underwater operations concerning dam structure monitoring, Hydropower Plant (HPP), reservoir, and lake ecosystem inspection, and mining and oil exploration, underwater robotics applications are increasing rapidly. The increase in exploration, prospecting, monitoring, and security in lakes, rivers, and the sea in commercial applications has led large companies and research centers to invest underwater vehicle development. The purpose of this work is to present the design of an Autonomous Underwater Vehicle (AUV), focusing efforts on dimensioning structural elements and machinery and elaborating the sensory part, which includes navigation sensors and environmental conditions sensors. The integration of these sensors in an intelligent platform provides a satisfactory control of the vehicle, allowing the movement of the submarine on the three spatial axes. Because of the satisfactory fast response of the sensors, one can determine the acceleration and inclination as well as the attitude in relation to the trajectory instantaneously taken. This vehicle will be able to monitor the physical integrity of dams, making acquisition and storage of environmental parameters such as temperature, dissolved oxygen, pH, and conductivity, as well as document images of the biota from reservoir lake HPPs, with minimal cost, high availability, and low dependence on a skilled workforce to operate it.

scholarly journals A Mechatronic Description of an Autonomous Underwater Vehicle for Dam Inspection

Robotics ◽  
2013 ◽  
pp. 647-662
Author(s):  
Ítalo Jáder Loiola Batista ◽  
Antonio Themoteo Varela ◽  
Edicarla Pereira Andrade ◽  
José Victor Cavalcante Azevedo ◽  
Tiago Lessa Garcia ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Environmental Parameters ◽  
Underwater Vehicle ◽  
Fast Response ◽  
Hydropower Plant ◽  
Lake Ecosystem ◽  
Underwater Robotics ◽  
Structure Monitoring ◽  
Commercial Applications ◽  
And Storage

Driven by the rising demand for underwater operations concerning dam structure monitoring, Hydropower Plant (HPP), reservoir, and lake ecosystem inspection, and mining and oil exploration, underwater robotics applications are increasing rapidly. The increase in exploration, prospecting, monitoring, and security in lakes, rivers, and the sea in commercial applications has led large companies and research centers to invest underwater vehicle development. The purpose of this work is to present the design of an Autonomous Underwater Vehicle (AUV), focusing efforts on dimensioning structural elements and machinery and elaborating the sensory part, which includes navigation sensors and environmental conditions sensors. The integration of these sensors in an intelligent platform provides a satisfactory control of the vehicle, allowing the movement of the submarine on the three spatial axes. Because of the satisfactory fast response of the sensors, one can determine the acceleration and inclination as well as the attitude in relation to the trajectory instantaneously taken. This vehicle will be able to monitor the physical integrity of dams, making acquisition and storage of environmental parameters such as temperature, dissolved oxygen, pH, and conductivity, as well as document images of the biota from reservoir lake HPPs, with minimal cost, high availability, and low dependence on a skilled workforce to operate it.

Sparse Extended Information Filter for AUV SLAM: Insights into the Optimal Sparse Time

2013 ◽  
Vol 427-429 ◽  
pp. 1670-1673 ◽  
Author(s):  
Hao Zhang ◽  
Bo He ◽  
Ning Luan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Computation Time ◽  
Underwater Vehicle ◽  
Information Loss ◽  
Sea Trial ◽  
Time Consumption ◽  
Localization And Mapping ◽  
Information Filter ◽  
Slam Algorithm ◽  
And Storage

Sparse extended information filter-based simultaneous localization and mapping (SEIF-based SLAM) algorithm can reflect significant advantages in terms of computation time and storage memories. However, SEIF-SLAM is easily prone to overconfidence due to sparsification strategy. In this paper we will consider the time consumption and information loss of sparse operation, and get the optimal sparse time. In order to verify the feasibility of sparsification, a sea trial for autonomous underwater vehicle (AUV) C-Ranger was conducted in Tuandao Bay. The experimental results will show the improved algorithm is much more effective and accurate comparedwithothermethods.

scholarly journals Design and Control Strategy of Bio-inspired Underwater Vehicle with Flexible Propulsor

2021 ◽  
Vol 8 ◽  
pp. 57-65
Author(s):  
Santanu Mitra ◽  
Vaibhav Sehgal ◽  
Shubham Rathore ◽  
Raghav Puri ◽  
Shivani Chouhan ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Underwater Robotics ◽  
Swimming Pattern ◽  
Vehicle Efficiency ◽  
Body Design ◽  
Turning Motion ◽  
And Control ◽  
Manta Ray ◽  
Propulsive Mechanism

Biomimetics aims to take inspiration from nature and develop new models and efficient systems for a sustainable future. Bioinspired underwater robotics help develop future submarines that will navigate through the water using flexible propulsor. This research has focused on the Manta Ray species as batoid has a unique advantage over other species. This study also aims to improve AUV (Autonomous Underwater Vehicle) efficiency through biomimetic design, the purpose of which is to observe and study the marine environment, be it for sea exploration or navigation. The design and prototyping process of bioinspired AUVs have been mentioned in this study, along with testing a propulsive mechanism for efficient swimming and turning capabilities. The Robot was designed taking structural considerations from the actual Manta-Ray locomotion and body design. The propulsion mechanism and control circuit were then implemented on the developed systems. The prototype of the Manta Ray was able to generate a realistic swimming pattern and was tested in an acrylic tank. The experimental results obtained in the tank basin are very close to the results we observe in the real-world scenario in terms of the vehicle's forward and turning motion.

scholarly journals Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Zool H. Ismail ◽  
Vina W. E. Putranti
Keyword(s):  
Energy Demand ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Fast Response ◽  
Second Order ◽  
Computational Time ◽  
Sliding Mode Controller ◽  
Loop Control ◽  
Chattering Effect

The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV) is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC), gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC) with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

Natural Resource Exploration With Sonar on Underwater Vehicle

2012 ◽  
Author(s):  
Takao Sawa ◽  
Takafumi Kasaya ◽  
Tadahiro Hyakudome ◽  
Hiroshi Yoshida
Keyword(s):  
Rare Earth ◽  
Rare Earth Elements ◽  
Natural Resources ◽  
Hydrothermal Vents ◽  
Autonomous Underwater Vehicle ◽  
Chemical Elements ◽  
Underwater Vehicle ◽  
Hot Water ◽  
Underwater Robotics ◽  
Underwater Exploration

Occurring as a set of 17 chemical elements in the periodic table, rare earth elements such as neodymium are necessary for the development of mobile phones and magnet motors. Although securing rare earth elements is essential for economic growth of all nations, their demand is rapidly expanding among global powers such as Brazil, Russia, India, and China. Rare earth element deposits were discovered in the seafloor near hydrothermal vents in the 1980s. Japan has the sixth largest exclusive economic zone (EEZ) and is abundant in underwater natural resources such as a cobalt and a manganese mine. Because underwater exploration of rare earth elements was deemed unprofitable, the practice was suspended. Current advancements in underwater robotics, however, have led to economic viability in this venture. Such developments have resulted in the increased use of remote sensing with sonars on unmanned underwater vehicles. The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) developed a cruising autonomous underwater vehicle (AUV) known as Urashima. This AUV performed its first sea trial in 2000, and cruise for 317 km without recharging or refueling in 2005 as a world record at the time. The first mission of Urashima was a vast sea exploration to investigate worldwide environmental crises such as global warming. However, the purpose of these missions has since then shifted primarily to the exploration of underwater natural resources. In addition, JAMSTEC developed a synthetic aperture sonar on a neutral buoyancy towfish in 2010. This underwater exploration system, known as Kyouryuu, scanned Wakamiko caldera at the sea bottom in Kagoshima Bay where volcanic activity was evident. Numerous hot-water flows from hydrothermal vents were clearly recorded. In addition, many dormant chimneys were detected. These features provide important data for estimating the distribution of hydrothermal vents and chimneys in addition to their transitions.

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