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.

Dynamic Analysis of a Towed Underwater Vehicle System: Model Validation

2004 ◽  
Author(s):  
Gry Karin Haugen ◽  
Mads Grahl-Madsen
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Behaviour ◽  
Equations Of Motion ◽  
Underwater Vehicle ◽  
Integrated System ◽  
System Model ◽  
Cable Model ◽  
Vehicle System ◽  
Successful Design

An integrated system consisting of two towed sub-sea vehicles and a free-floating probe is being developed to perform mapping and quantitative estimations for fish and plankton. A thorough understanding of the dynamic behaviour of the towed vehicle system is essential for a successful design, and a dynamic model that can accurately describe the vehicle behaviour under the influence of a wide variation of conditions, is necessary. This paper discusses two different approaches for the dynamic analysis of a towed vehicle system. Analyses are performed using the commercial available simulation program MOSES. Further the 2D equations of motion for the towed vehicle are developed and solved in Matlab using a simple cable model.

scholarly journals Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

2015 ◽  
Vol 81 (832) ◽  
pp. 15-00391-15-00391 ◽  
Author(s):  
Akira YANOU ◽  
Shota OHNISHI ◽  
Shintaro ISHIYAMA ◽  
Mamoru MINAMI
Keyword(s):  
Underwater Vehicle ◽  
Visual Servo ◽  
Vehicle System ◽  
Docking Control ◽  
Autonomous Docking

A Composite Rigid Body Algorithm for Modeling and Simulation of an Underwater Vehicle Equipped With Manipulator Arms

2004 ◽  
Author(s):  
Mohammad Khalaj Amir Hosseini ◽  
Mohammad Banae ◽  
Ali Meghdari
Keyword(s):  
Rigid Body ◽  
Modeling And Simulation ◽  
Degrees Of Freedom ◽  
Oil And Gas ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Design Stage ◽  
Viscous Drag ◽  
Position Sensing ◽  
Drag Forces

In this paper modeling and simulation of an underwater vehicle equipped with manipulator arms, using Composite Rigid Body (CRB) algorithm will be discussed. Because of increasing need to Unmanned Underwater Vehicles (UUVs) in oil and gas projects in Persian Gulf, for doing operations such as inspection of offshore jackets, subsea pipelines and submarine cables and also pre installation survey and post laid survey of submarine pipelines and cables, design and construction of “SROV” was developed in Sharif University of Technology, and at design stage behavior of underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm is developed for an UUV equipped with m manipulators that each of them has N degrees of freedom. In addition to the effects of mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. For drag forces, the emphasis here is on the modeling of the pressure drag. Recent advances in underwater position and velocity sensing enable real-time centimeter-precision position measurements of underwater vehicles. With these advances in position sensing, our ability to precisely control the hovering and low-speed trajectory of an underwater vehicle is limited principally by our understanding of the vehicle’s dynamics and dynamics of the bladed thrusters commonly used to actuate dynamically-positioned marine vehicles. So the dynamics of thrusters, are developed, and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle, is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally the results of the simulations, for an underwater vehicle equipped with one 2 DOFs manipulator, are presented and discussed in details.

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