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 Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

A Unified Frequency Equation and the Motion Analysis of a Moving Flexible Beam Carrying a Concentrated Mass

1999 ◽  
Author(s):  
S. Park ◽  
J. W. Lee ◽  
Y. Youm ◽  
W. K. Chung
Keyword(s):  
Natural Frequencies ◽  
Equations Of Motion ◽  
Frequency Equation ◽  
Open Loop ◽  
Mode Shapes ◽  
Flexible Beam ◽  
Lumped Mass ◽  
Concentrated Mass ◽  
Forcing Function ◽  
The Mathematical Model

Abstract In this paper, the mathematical model of a Bernoulli-Euler cantilever beam fixed on a moving cart and carrying an intermediate lumped mass is derived. The equations of motion of the beam-mass-cart system is analyzed utilizing unconstrained modal analysis, and a unified frequency equation which can be generally applied to this kind of system is obtained. The change of natural frequencies and mode shapes with respect to the change of the mass ratios of the beam, the lumped mass and the cart and to the position of the lumped mass is investigated. The open-loop responses of the system by arbitrary forcing function are also obtained through numerical simulations.

scholarly journals Dynamics Modeling and Motion Control of an New Unmanned Underwater Vehicle

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 30119-30126 ◽  
Author(s):  
Fang Kong ◽  
Yinjing Guo ◽  
Wenhong Lyu
Keyword(s):  
Motion Control ◽  
Underwater Vehicle ◽  
Dynamics Modeling ◽  
Unmanned Underwater Vehicle

Rocking Conversion System Based on Wave Energy for Unmanned Underwater Vehicle

2014 ◽  
Vol 953-954 ◽  
pp. 680-687 ◽  
Author(s):  
Fei Deng ◽  
Ke Yan Wang ◽  
Wen Jun Ding
Keyword(s):  
Wave Energy ◽  
Energy Demand ◽  
Equations Of Motion ◽  
Underwater Vehicle ◽  
Factors Affecting ◽  
Unmanned Underwater Vehicle ◽  
Wave Energy Converters ◽  
Runge Kutta Method ◽  
Long Time ◽  
Continuous Work

Aiming at the navigation purpose of long time and large distance of UUV( unmanned underwater vehicle), and dealing with the energy demand of UUV for long continuous work, on the basis of analysis and comparison of existing wave energy converters at home and aboard, a rocking energy generation device based on the wave energy is proposed. The equations of motion for the vehicle and the rocking pendulum are established according to Lagrange method. Finally, the factors affecting the rocking generation performance are analyzed by solving the simplified equation of motion according to the Runge-Kutta method. The influence of parameters on the rocking generation is investigated over a range of sea state. Research and analysis show that the proposed wave energy rocking generation device model is reasonable and feasible, and provide a theoretical basis and reference for the development, the engineering test and the optimization of the rocking generator.

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 Investigation of a 2-DOF Active Magnetic Bearing Actuator for Unmanned Underwater Vehicle Thruster Application

Actuators ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 79
Author(s):  
Muhammad Abdul Ahad ◽  
Sarvat M. Ahmad
Keyword(s):  
Underwater Vehicle ◽  
Magnetic Bearing ◽  
Open Loop ◽  
Active Magnetic Bearing ◽  
Linear Quadratic ◽  
Reference Tracking ◽  
Unmanned Underwater Vehicle ◽  
Performance Specifications ◽  
Amb System ◽  
Intractable Problem

In this work, a novel application of Active Magnetic Bearing (AMB) is proposed to integrate AMB in the Magnetically Coupled Thruster (MCT) assembly for underwater application. In this study, a 2-Degree-Of-Freedom (DOF) AMB is developed and investigated for the MCT of an Unmanned Underwater Vehicle (UUV). The paper presents the detailed electro-mechanical modeling of the in-house developed AMB system. The intractable problem of rotor suspension and rotation with opposing pairs of electromagnets is considered. A Linear Quadratic Gaussian (LQG) controller is designed and analyzed in the frequency domain for the stabilization of the open-loop unstable AMB for MCT. The performance specifications of the controller, such as reference tracking and disturbance rejection are achieved and evaluated through real-time implementation of the controller. The compensator also performed reasonably well during the dynamic operations, i.e., when the rotor-propeller assembly was spun at 1500 rpm. This rotor speed is needed to generate a thrust of 40–45 N and up to 1 m/s forward velocity, which is necessary to propel the UUV under consideration. By deploying AMB in MCT assembly, it is anticipated that problems associated with the conventional directly coupled thruster operating in harsh underwater environment, such as water ingress into electronics compartment, rusting, lubrication, and vibrations would be eliminated.

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.

Numerical Analysis of a Three Element Microbeam Array Subject to Electrodynamical Parametric Excitation

2008 ◽  
Author(s):  
Stefanie Gutschmidt ◽  
Oded Gottlieb
Keyword(s):  
Dynamic Behavior ◽  
Parametric Excitation ◽  
Nearest Neighbor ◽  
Equations Of Motion ◽  
Nonlinear Effects ◽  
Theoretical Models ◽  
System Response ◽  
Lumped Mass ◽  
Internal Resonances ◽  
Temporal Interaction

The dynamic response of parametrically excited microbeam arrays is governed by nonlinear effects which directly influence their performance. To date, documented theoretical models consist of lumped-mass models. While a lumped-mass approach is useful for a qualitative understanding of the system response it does not resolve the spatio-temporal interaction of the individual elements in the array. Thus, we employ a consistent nonlinear continuum model to investigate the nonlinear dynamic behavior of an array of N nonlinearly coupled microbeams. Investigations focus on the behavior of a small size array in its 1:1:1 internal, parametric, and 3:1 internal resonances, which correspond to low, medium and high DC-voltage input, respectively. The dynamic equations of motion are solved numerically. The dynamic behavior of the three beam systems reveals coexisting periodic and aperiodic solutions. Similarities in the comprehensive bifurcation structures of the three beam systems provide insight to the nearest neighbor response of multi-element microbeam arrays subject to electrodynamic parametric excitation.

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 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
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