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 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 Study on Control System of Integrated Unmanned Surface Vehicle and Underwater Vehicle

Sensors ◽  
2020 ◽  
Vol 20 (9) ◽  
pp. 2633 ◽  
Author(s):  
Hyunjoon Cho ◽  
Sang-Ki Jeong ◽  
Dae-Hyeong Ji ◽  
Ngoc-Huy Tran ◽  
Mai The Vu ◽  
...  
Keyword(s):  
Real Time ◽  
Measurement System ◽  
Field Tests ◽  
Underwater Vehicle ◽  
Hydrodynamic Resistance ◽  
Coordination Control ◽  
Unmanned Surface Vehicle ◽  
Integrated Platform ◽  
Underwater Camera ◽  
Cooperation System

In this paper, in order to overcome certain limitations of previously commercialized platforms, a new integrated unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV) platform connected via underwater cable capable of acquiring real-time underwater data and long-time operation are studied. A catamaran-type USV was designed to overcome the limitations of an ocean environment and to play the role as the hub of power supply and communication for the integrated platform. Meanwhile, the UUV was designed as torpedo-shaped to minimize hydrodynamic resistance and its hardware design was focused on processing and sending the underwater camera and sonar data. The underwater cable driven by a winch system was installed to supply power from the USV to the UUV and to transmit acquired data form underwater sonar sensor or camera. Different from other previously studied cooperation system of USVs and autonomous underwater vehicles (AUVs), the merit of the proposed system is real-time motion coordination control between the USV and UUV while transmitting large amount of data using the tether cable. The main focus of the study is coordination of the UUV with respect to the global positioning system (GPS) attached at USV and verification of its performance throughout field tests. Waypoint tracking control algorithm was designed and implemented on USV and relative heading, distance control for USV–UUV coordination was implemented to UUV. To ensure the integrity of the coordination control of the integrated platform, a study on accurate measurement system of the relative position between the USV and the UUV by using the GPS and the ultrashort baseline (USBL) device was performed. Individual tests were conducted to verify the performance of USBL and AHRS, which provide the position and heading data of UUV among the sensors mounted on the actual platform, and the effectiveness of the obtained sensor data is presented. Using the accurate measurement system, a number of field tests were conducted to verify the performance of the integrated platform.

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 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

Der Sommer und Herbst 2003 aus phänologischer Sicht | Summer and autumn 2003 from a phenological point of view

2004 ◽  
Vol 155 (5) ◽  
pp. 142-145 ◽  
Author(s):  
Claudio Defila
Keyword(s):  
Time Series ◽  
New Record ◽  
Point Of View ◽  
Late Spring ◽  
Mean Deviation ◽  
Leaf Shedding ◽  
The Mean ◽  
Very High ◽  
Selection Of

The record-breaking heatwave of 2003 also had an impact on the vegetation in Switzerland. To examine its influences seven phenological late spring and summer phases were evaluated together with six phases in the autumn from a selection of stations. 30% of the 122 chosen phenological time series in late spring and summer phases set a new record (earliest arrival). The proportion of very early arrivals is very high and the mean deviation from the norm is between 10 and 20 days. The situation was less extreme in autumn, where 20% of the 103 time series chosen set a new record. The majority of the phenological arrivals were found in the class «normal» but the class«very early» is still well represented. The mean precocity lies between five and twenty days. As far as the leaf shedding of the beech is concerned, there was even a slight delay of around six days. The evaluation serves to show that the heatwave of 2003 strongly influenced the phenological events of summer and spring.

Sign in / Sign up

Export Citation Format

Share Document