Download or read book Design and Dynamic Modeling of an Unmanned Underwater Vehicle for Submerged Surface Inspection Exploiting Hydrodynamic Ground Effect written by Sampriti Bhattacharyya and published by . This book was released on 2017 with total page 233 pages. Available in PDF, EPUB and Kindle. Book excerpt: Anticipated growth of sub-sea technologies for security, infrastructure inspection, and exploration, motivates a deeper understanding of underwater navigation in proximity to a submerged target surface. Common examples range from water tanks in nuclear reactors, submerged oil rig infrastructure, to ship hulls with hidden compartments and threats. We propose EVIE (Ellipsoidal Vehicle for Inspection and Exploration): a water jet propelled, football sized ellipsoidal Unmanned Underwater Vehicle (UUV) with a flattened base to house necessary sensors needed for surface inspections. The UUV is designed - both in terms of its shape and propulsion - for gliding on submerged surfaces for volumetric inspection, in addition to motion in free stream motion for visual inspections. This thesis research explores the ground effect hydrodynamics due to the motion of a body near a surface. We demonstrate the formation of a thin fluid bed layer between the surfaces which enables smooth motion even on rough surfaces. The proposed robot eliminates the need for wheels or suction. Use of ground effect fluid dynamics is common in aerial and land vehicles but is almost unexplored for underwater applications. We focus exploiting this phenomenon in real world applications, developing a prototype model to maintain precise distances with reduced actuator control. We explore both parasitic (induced by lateral motion) and explicitly induced (adding a impinging bottom jet) hydrodynamic effects. We find the force is not only non linear, it is not monotonic and has multiple equilibria. As the body approaches the surface it first experiences repulsion (enhanced thrust) due to an up-wash effect - similar to vertical take off and landing (VTOL) vehicles which can hover at reduced thrust. This transitions to a suction force at small distances from a Venturi effect. At still smaller distances there is again a repulsion due to choking flow between the body and the surface. Given the complexity of the force, and considering the hydrodynamic drag is non linear as well, traditional linearization fails to capture the system behavior and is at best constrained to a small region around the equilibrium. Instead, we use a higher dimensional, data driven approach for modeling. The underlying hypothesis is that dynamical systems behave linearly when recast in a suitable higher dimensional space. State variables are augmented by adding auxiliary variables that sufficiently inform the nonlinear dynamics of the system. We demonstrate a novel and a powerful method of individual estimation of each of the state dependent non linearities by integrating a state estimator into the augmented system. The estimator only uses measured, original states to estimate the non linear forces. The method is extremely robust: even though the approximated state transition model has significant inaccuracies, we prove guaranteed convergence of the unobserved states. This doctoral thesis encompasses three unique contribution: design and development of a prototype micro UUV platform for testing surface inspection methods; invention and application of a unique underwater phenomenon to the UUV; and establishing a novel mathematical approach for robust estimation of complex non linear elements using a linearized, high dimensional data driven model. The research presented opens a whole new door of opportunities and provides a new perspective for the design of next generation subsea vehicles and technology.

Download or read book Analytical Modeling and Simulation of an AUV with Five Control Surfaces written by John Tomasi (Mechanical engineer) and published by . This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research describes the dynamic modeling and numerical simulation of an autonomous underwater vehicle (AUV) with five hydrodynamic control surfaces, necessary for the development of an autopilot algorithm, based solely upon analytical methodologies. The purpose of this research was to demonstrate the ability to develop a low. order approximation of the dynamics and control characteristics of an underwater vehicle that is complete enough to validate a specific design before physical construction begins; therefore, allowing for a more cost effective virtual design, test, and evaluation process. The AUV model developed in this study takes into consideration inertia, hydrostatic forces, hydrodynamic forces, propulsion forces, control fin forces, added mass, and damping. The model assumes that the vehicle is sufficiently far enough away from the ocean bottom and surface so that their effects can be ignored. The necessary stability and control derivatives were determined through the use of engineering formulae. The mathematical model represents a general, nonlinear, six degrees of freedom model, and it is similar to those used to carry out atmospheric flight simulations. The non-linear model was linearized about the design (equilibrium) condition to obtain a linear state-space vehicle model.

Download or read book Deeply Submerged Hydrodynamic Control Propulsion and Dynamic Change Models for Underwater Vehicle Simulation written by George D. Watt and published by . This book was released on 2019 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2018-04-05 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.

Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.

Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Download or read book Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

Download or read book Experimental Hydrodynamics and Simulation of Manoeuvring of an Axisymmetric Underwater Vehicle written by Farhood Azarsina and published by . This book was released on 2009 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Robots written by Gianluca Antonelli and published by . This book was released on 2006-06-13 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.

Download or read book Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators written by Bo Li and published by . This book was released on 2016 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontal plane motion. The demand for high-performance AUVs are growing in the eld of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative flows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coefficients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real uid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling effects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.

Download or read book Computational Hydrodynamics and Control Modeling for Autonomous Underwater Vehicles written by and published by . This book was released on 2003 with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt: The long term objective of the program is to develop predictive technologies to support virtual design and evaluation of underwater vehicles systems. CFD technologies will be used to protect hydrodynamic models for AUVs and those models will be coupled with control system design and modeling tools to allow vehicle conceptual design to be evaluated within the context of a realistic mission. The objectives of this effort were to compare the forces and moments acting on a maneuvering AUV predicted by computational fluid dynamics (CFD) code with similar data collected aboard an operational AUV. In particular, the multi-block Navier-Stokes flow solver UNCLE (Unsteady Computational of Field Equations) was used in this effort.

Download or read book Autonomous Underwater Vehicles written by Cynthia Mitchell and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gravity-gradient and magnetic-gradient inversion equations are combined to estimate the orientation and distance of an underwater object. The CKF algorithm based on EMMAF algorithm and Spherical-Radial is proposed and is applied to the fault diagnosis of slaver AUV in multi AUV collaborative positioning system. Simulation results are used to analyze the advantages and disadvantages of the three algorithms. This book looks at how a Service-Oriented Agent Architecture (SOAA) for marine robots is endowed with resilient capabilities in order to build a robust (fault-tolerant) vehicle control approach. Particular attention is paid to cognitive RCAs based on agent technologies and any other smart solution already applied or potentially applicable to UMVs. The book also presents current and future trends of RCAs for UMVs.

Download or read book Dynamic Model Development and Simulation of an Autonomous Active AUV Docking Device Using a Mechanically Actuated Mechanism to Recover AUVs to a Submerged Slowly Moving Submarine in Waves written by Colin B. Gillis and published by . This book was released on 2014 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous Underwater Vehicles (AUVs) are presenting an ever expanding range of applications that enhance human capabilities and mitigate human risk. Development of a successful subsurface autonomous launch and recovery system would expand the functional use of AUVs in many fields. Defence Research and Development Canada (DRDC) is leading a collaborative project with the University of New Brunswick (UNB) to develop such a system that would recover AUVs to a slowly moving submerged submarine. This thesis provides an overview of the design, dynamic modelling, and preliminary control in simulation of an electro-mechanically actuated AUV dock concept, which operates without using hydrodynamic fluid power to provide motive force. The device is partially faired and has a R⊥R⊥P serial manipulator architecture. In short, the device is referred to as the mechanically actuated RRP serial manipulator. High speed actuation of the device is required to compensate for relative trajectory errors between the submarine and AUV during significant sea states in littoral waters. Hydrodynamic forces present in water cannot be ignored and will be modelled using the Morison Equation. Unimodal Linear Wave Theory is used to simulate AUV kinematics, establishing end effector design trajectories, as well as providing wave kinematics for hydrodynamic modelling. Alterations to the recursive Newton-Euler derivation of manipulator dynamics are explained, and results of simulations are presented. Model Predictive Control (MPC) of the mechanically actuated RRP serial manipulator is simulated using a Dynamic Matrix Control (DMC) architecture. The dynamic models are verified analytically and provide accurate evaluation without lose of generality. Dynamic modelling shows the actuator loads for the proposed device are significant. Drag is the largest contributer and indicates the device must be streamlined. The link diameter used for simulation is overly conservative and should be optimized to reduce its size, this will decrease the required actuator loads. The control simulation shows the DMC controller is a robust design for tracking, however it needs to be combined in a cascading architecture to control both position and velocity for precise control. Overall, the mechanically actuated RRP serial manipulator is a viable design but requires further modelling and development. The device becomes more promising as it is streamlined and reduced in overall length."--Pages ii-iii.

Download or read book Hydrodynamic Interactions of an Unmanned Underwater Vehicle Operating in Close Proximity to a Moving Submarine written by Brady M. Hammond and published by . This book was released on 2021 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the United States Navy has developed a strong arsenal of tools to model the hydrodynamic forces and moments of different vehicles in different conditions, they do not have a model that enables them to understand the forces and moments that an Unmanned Underwater Vehicle (UUV) experiences when operating in close proximity to a moving submarine as a result of the interactions between their potential fields and wakes. The launch and recovery of UUVs from submarines is very challenging because these hydrodynamic interactions make UUVs hard to control near submarines and my even cause collisions between the two vehicles. The mapping of these forces and moments is vital to simulate the motion of the vehicles and enable developers to create UUV control and autonomy systems that are adaptive to these hydrodynamic interactions to further enable UUV launch and recovery. Due to the complex nature of the hydrodynamic interactions, this study used computational fluid dynamics to expand the current understanding of the forces and moments between these two vehicles. A Gaussian process regression model was used to perform an optimal experimental design and map the resulting hydrodynamic interactions based on the UUVs longitudinal position, lateral position, speed, heading angle, UUV diameter, and UUV length. The model was validated using an out of sampling method and was shown to be capable of accurately predicting the hydrodynamic interactions between a submarine and UUV.