scholarly journals Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV)

2005 ◽  
Vol 2 (2) ◽  
pp. 117-123
Author(s):  
S. N. Singh ◽  
S. Mani
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Lateral Displacement ◽  
Autonomous Underwater Vehicles ◽  
Equations Of Motion ◽  
Underwater Vehicles ◽  
Rotational Angle ◽  
Internal Model Principle ◽  
Sinusoidal Oscillations ◽  
Oscillating Foil ◽  
And Control

The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic) autonomous underwater vehicles (BAUVs). Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs). The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories.

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

scholarly journals Optimal design of nose and tail of an autonomous underwater vehicle hull to reduce drag force using numerical simulation

2019 ◽  
Vol 234 (1) ◽  
pp. 76-88 ◽  
Author(s):  
Mohammad Saghafi ◽  
Roham Lavimi
Keyword(s):  
Energy Consumption ◽  
Drag Force ◽  
Autonomous Underwater Vehicle ◽  
Turbulence Modeling ◽  
Stokes Equations ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Navier Stokes

In this research, the flow around the autonomous underwater vehicles with symmetrical bodies is numerically investigated. Increasing the drag force in autonomous underwater vehicles increases the energy consumption and decreases the duration of underwater exploration and operations. Therefore, the main objective of this research is to decrease drag force with the change in geometry to reduce energy consumption. In this study, the decreasing or increasing trends of the drag force of axisymmetric bare hulls have been studied by making alterations in the curve equations and creating the optimal geometric shapes in terms of hydrodynamics for the noses and tails of autonomous underwater vehicles. The incompressible, three-dimensional, and steady Navier–Stokes equations have been used to simulate the flow. Also, k-ε Realizable with enhanced wall treatment was used for turbulence modeling. Validation results were acceptable with respect to the 3.6% and 1.4% difference with numerical and experimental results. The results showed that all the autonomous underwater vehicle hulls designed in this study, at an attack angle of 0°, had a lower drag force than the autonomous underwater vehicle hull used for validation except geometry no. 1. In addition, nose no. 3 has been selected as the best nose according to the lowest value of stagnation pressure, and also tail no. 3 has been chosen as the best tail due to the production of the lowest vortex. Therefore, geometry no. 5 has been designed using nose and tail no. 3. The comparison made here showed that the maximum drag reduction in geometry no. 5 was equal to 26%, and therefore, it has been selected as the best bare hull in terms of hydrodynamics.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Low Level Control

2018 ◽  
Vol 212 (1) ◽  
pp. 105-123
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Final Report ◽  
Level Control ◽  
Low Level

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

scholarly journals Report on Research with Biomimetic Autonomous Underwater Vehicle — Navigation and Autonomous Operation

2018 ◽  
Vol 213 (2) ◽  
pp. 53-67 ◽  
Author(s):  
Tomasz Praczyk ◽  
Piotr Szymak ◽  
Krzysztof Naus ◽  
Leszek Pietrukaniec ◽  
Stanisław Hożyń
Keyword(s):  
Research And Development ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Swimming Pool ◽  
Vehicle Navigation ◽  
Final Report ◽  
Autonomous Operation

Abstract The paper presents the second part of the final report on all the experiments with biomimetic autonomous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments on the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on navigation and autonomous operation.

scholarly journals Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey

2021 ◽  
Vol 2129 (1) ◽  
pp. 012080
Author(s):  
Chinonso Okereke ◽  
Nur Haliza Abdul Wahab ◽  
Mohd Murtadha Mohamad ◽  
S H Zaleha
Keyword(s):  
Energy Storage ◽  
Crucial Role ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
The Internet ◽  
The Earth ◽  
Future Work

Abstract Water, mostly oceans, covers over two-third of the earth. About 95% of these oceans are yet to be explored which includes 99% of the sea-beds. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and longer energy storage. In order for AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the challenges of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV. A summary and suggestion for future work was discussed.

scholarly journals A Distributed Algorithm for Cooperative 3D Exploration under Communication Constraints

2013 ◽  
Vol 4 (4) ◽  
Author(s):  
Ravi Kulan Rathnam ◽  
Andreas Birk
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
High Fidelity ◽  
Optimization Strategy ◽  
Complete Control ◽  
Exploration Process ◽  
Communication Range ◽  
Navigation And Control ◽  
3D Exploration ◽  
And Control

AbstractAn algorithm for distributed exploration in 3D is presented which always keeps the robots within communication range of each other. The method is based on a greedy optimization strategy that uses a heuristic utility function. This makes it computationally very efficient but it can also lead to local minimums; but related deadlocks can be easily detected during the exploration process and there is an efficient strategy to recover from them. The exploration algorithm is integrated into a complete control infrastructure for Autonomous Underwater Vehicles (AUV) containing sensors, mapping, navigation, and control of actuators. The algorithm is tested in a high fidelity simulator which takes into account the dynamics of the robot, and simulates the required sensors. The effect of the communication range and the number of robots on the algorithm is investigated.

Safe Navigation Algorithm for Autonomous Underwater Vehicles

2021 ◽  
Vol 29 (1) ◽  
pp. 97-110
Author(s):  
V.S. Bykova ◽  
◽  
A.I. Mashoshin ◽  
I.V. Pashkevich ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Limited Size ◽  
Safe Navigation ◽  
Navigation Algorithm ◽  
Navigation Algorithms ◽  
Ice Edge

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

Multi-autonomous underwater vehicles collaboratively search for intelligent targets in an unknown environment in the presence of interception

2020 ◽  
pp. 095440622094362
Author(s):  
Xi-wen Ma ◽  
Yan-li Chen ◽  
Gui-qiang Bai ◽  
Yong-bai Sha ◽  
Jun Liu
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Full Range ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Layer By Layer ◽  
Self Organizing Map ◽  
Unknown Environment ◽  
Underwater Environment ◽  
Wave Diffusion

We present a bionic neural wave network that uses multiple autonomous underwater vehicles to search and acquire intelligent targets in an unknown underwater environment. The neuron pheromone content is arranged according to neural wave diffusion and layer-by-layer energy attenuation, when underwater mesh space based on neural wave diffusion theory was established that the neuron nodes in the neural network structure correspond to obstacles, autonomous underwater vehicles, and targets in the environment. In order to solve the problems of over-allocation and under-allocation of the multi-autonomous underwater vehicles system during the cooperative capture of targets, a redistribution mechanism based on the improved self-organizing map algorithm is implemented and directed to rationalize task distribution. Two different taboo search methods are employed to update the autonomous underwater vehicle path in real time, and the polynomial coefficient solution method is used to fit partial path data. So that the autonomous underwater vehicle trajectory can be obtained and an interceptor position coordinate can be predicted. An auxiliary autonomous underwater vehicle is aimed to replace the intercepted autonomous underwater vehicle and the matching capture points are tracked to ensure the completion of the task so that the full range of hunting targets is identified. In order to simulate an unknown complex underwater environment, obstacles are randomly arranged around the target, the location information of the obstacle, and the target is unknown and unpredictable. Four simulation experiments were performed to verify the accuracy and efficiency of the algorithm under unknown environment. The results show that this algorithm can improve the path update average efficiency by 66% compared with other algorithms. Obviously, this algorithm is reasonable and effective.

scholarly journals Analysis of Parameter Sensitivity Using Robust Design Techniques for a Flatfish Type Autonomous Underwater Vehicle

2009 ◽  
Vol 2009 ◽  
pp. 1-10 ◽  
Author(s):  
M. Santhakumar ◽  
T. Asokan ◽  
T. R. Sreeram
Keyword(s):  
Robust Design ◽  
Pitch Angle ◽  
High Performance ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Autonomous Underwater Vehicles ◽  
Angle Variation ◽  
Hydrodynamic Parameters ◽  
And Control ◽  
Design Techniques

Hydrodynamic parameters play a major role in the dynamics and control of Autonomous Underwater Vehicles (AUVs). The performance of an AUV is dependent on the parameter variations and a proper understanding of these parametric influences is essential for the design, modeling, and control of high-performance AUVs. In this paper, the sensitivity of hydrodynamic parameters on the control of a flatfish type AUV is analyzed using robust design techniques such as Taguchi's design method and statistical analysis tools such as Pareto-ANOVA. Since the pitch angle of an AUV is one of the crucial variables in the control applications, the sensitivity analysis of pitch angle variation is studied here. Eight prominent hydrodynamic coefficients are considered in the analysis. The results show that there are two critical hydrodynamic parameters, that is, hydrodynamic force and hydrodynamic pitching moment in the heave direction that influence the performance of a flatfish type AUV. A near-optimal combination of the parameters was identified and the simulation results have shown the effectiveness of the method in reducing the pitch error. These findings are significant for the design modifications as well as controller design of AUVs.

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