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 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.

Development of a Multi-Body Vessel Dynamics Simulation Tool

2009 ◽  
Author(s):  
Xiaochuan Yu ◽  
Chandan Lakhotia ◽  
Jeffrey M. Falzarano
Keyword(s):  
Time Domain ◽  
Wave Force ◽  
Dynamics Simulation ◽  
Simulation Tool ◽  
Sea State ◽  
Body Dynamics ◽  
Constant Coefficients ◽  
The Time Domain ◽  
Multi Body ◽  
The Given

Multi-body dynamics is important in many fields of engineering. For the at-sea transfer of cargo between ships multi-body dynamics is particularly important. There are several methods of transferring solid cargo between vessels and these include by crane or by ramp. Each method is extremely sensitive to the relative motions between the various vessels. An accurate modeling of the vessels’ motions is critical in determining limiting sea state conditions and in suggesting how to improve the given system. There are various levels of approximation which are commonly employed to model vessel hydrodynamics and we hope to eventually determine what level of approximation is appropriate for a given situation. In this paper, we will compare the effects of considering as well as ignoring the multi-body hydrodynamic interactions using a constant coefficients approximation to the time domain radiated wave force.

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 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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