Structure and Hydrodynamics Optimizations of Landing Autonomous Underwater Vehicle

2013 ◽  
Vol 694-697 ◽  
pp. 1641-1645 ◽  
Author(s):  
Hong Wei Zhang ◽  
Liang Hao
Keyword(s):  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Open Water ◽  
Underwater Vehicle ◽  
Loading Capacity ◽  
Working Ability ◽  
Sea Trial ◽  
Sea Bottom ◽  
Landing Impact ◽  
Rudder Angle

Autonomous underwater vehicle (AUV) has become effective equipment in exploring and researching oceanic resources. Due to the limitation of the loading capacity of energy, the working ability of AUV is restricted. In this paper, we optimized the structure and hydrodynamics of the landing AUV II to improve the endurance. By decreasing diameter and increasing length, the resistance of the vehicle can be decreased with the same displacement. Although this may sacrifice the maneuverability, the vehicle is verified to have approving attitude controllability. In order to reduce landing impact, the AUV is conducted to dive to the predetermined depth close to seabed via controlling the attitude and then open water intake valves to get weight and land on sea bottom. Moreover, with the establishment of the dynamic model, the maneuverability and dynamic stability is analyzed and the equilibrium rudder angle is calculated. Sea trial indicates that the AUV could fulfill bottom-sitting and depth-setting exploration successfully.

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 SIMPLIFICATION AND VERIFICATION OF DYNAMIC EQUATIONS OF MOVEMENT OF AN AUTONOMUS UNDERWATER VEHICLE

2019 ◽  
pp. 43-48
Author(s):  
Martin Varga
Keyword(s):  
Simulation Model ◽  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Computer Modelling ◽  
Real Life ◽  
Underwater Vehicle ◽  
Industrial Robots ◽  
Experimental Results ◽  
Dynamic Equations ◽  
Basic Step

Urgency of the research. Currently, most machines go through computer modelling and simulation phase in their development cycle. The ability to formulate simple yet effective models helps to both decrease development cost and time. Target setting. Today many tasks are being accomplished by robots whether mobile robots or industrial robots. To simulate the behaviour of these robots a dynamic model is needed. These models can be very complex and the parameters to fill all the equations can be difficult to find, therefore simplifications need to be implemented and verified so that the models are still accurate. Actual scientific researches and issues analysis. A basic step in the development of new products is the simulation and modeling phase. Development of a computer model prior to development of a physical prototype saves time and resources. Unfortunately, some models can be very complex and require parameters only acquirable from tests on physical systems. That is why often these models need to be heavily simplified which can lead to imprecise results. Often, verification of the model is needed. One of such systems is the dynamic model of an Autonomous underwater vehicle (AUV). Uninvestigated parts of general matters defining. This article focuses on verification of a highly simplified dynamic simulation model of AUV. The research objective. The aim of these research was to model a simplified dynamic model of an AUV moving through fluid with nonnegligible viscous properties and verifie the model by comparing simulation results with experimental results obtained by testing on the real AUV. The statement of basic materials. The analysis consists of an attempt to summarise the possible ways to simplify a general dynamic equation for movement of an AUV in a fluid with nonnegligible viscous properties and showing, that even such simplified model stays usable and bring with it reduction in complexity. Conclusions. This article shows the basic dynamic equations for describing the movement of a general AUV in a fluid with nonnegligible viscous properties and the possible simplification of this equation in regard to a specific construction of a real world AUV. The results gathered from the simulation model are then compared to experimental results performed on the physical AUV with the conclusion, that both datasets are matching within reasonable margins. This article serves as a good reminder of the importance and benefits of well establishing simplifications in a model of a real-life system.

Dynamic model for an autonomous underwater vehicle based on experimental data

2013 ◽  
Vol 19 (2) ◽  
pp. 175-200 ◽  
Author(s):  
Y. Valeriano-Medina ◽  
A. Martínez ◽  
L. Hernández ◽  
H. Sahli ◽  
Y. Rodríguez ◽  
...  
Keyword(s):  
Experimental Data ◽  
Dynamic Model ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle

scholarly journals Design and Testing of a Spherical Autonomous Underwater Vehicle for Shipwreck Interior Exploration

2021 ◽  
Vol 9 (3) ◽  
pp. 320 ◽  
Author(s):  
Ross Eldred ◽  
Johnathan Lussier ◽  
Anthony Pollman
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Open Water ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Loop Control ◽  
Design Attributes ◽  
System Requirements ◽  
Design And Testing ◽  
4 Degrees Of Freedom

This article details the design, construction and implementation of a novel, spherical unmanned underwater vehicle (UUV) prototype for operations within confined, entanglement-prone marine environments. The nature of shipwreck interiors, the exploration of which the vehicle was originally designed, imposes special risks that constrain system requirements while promoting other attributes uncommon in typical open-water UUV designs. The invention, the Wreck Interior Exploration Vehicle (WIEVLE), was constructed using 3-D additive manufacturing technology combined with relatively inexpensive commercial components. Similar inventions are compared, followed by a thorough review of the physical and functional characteristics of the system. The key attributes of the design include a smooth, spherical hull with 360-degree sensor coverage, and a fixed, upward-angled thruster core, relying on inherent buoyancy to take the place of a dedicated depth-changing mechanism. Initial open-loop control testing demonstrated stable 4 degrees of freedom (DOF) maneuvering capability. The article concludes with an overview of the results of the initial testing, a review of how the key system design attributes address the unique shipwreck interior exploration challenges, and a plan for the future development of the platform.

SIWPSO-Based Controller Design for AUV

2014 ◽  
Vol 525 ◽  
pp. 736-740
Author(s):  
Jau Woei Perng ◽  
Yi Shyang Huang ◽  
Shiang Shiuan Huang ◽  
Guan Yan Chen ◽  
Chin Yin Chen ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Dynamic Model ◽  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Proportional Integral Derivative ◽  
Swarm Optimization ◽  
Linear And Nonlinear ◽  
Simulation Results

A strategy is proposed for a control system with a linearized autonomous underwater vehicle (AUV) dynamic model. The proposed approach combines the particle swarm optimization (PSO) and proportional-integral-derivative (PID) controller to adjust the parameters of the linearized dynamic model. The linear and nonlinear model are both considered in our work. The proposed techniques is verified by using the simulation results to the model of AUV.

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