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Book Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators

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.

Book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles

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.

Book Navigation and Target Localization Performance of the AUV Remote Environmental Measuring UnitS

Download or read book Navigation and Target Localization Performance of the AUV Remote Environmental Measuring UnitS written by Christopher John Cassidy and published by . This book was released on 2000 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Autonomous Underwater Vehicle AUV for the Study of Coastal and Upper Ocean Processes at the Woods Hole Oceanographic Institution

Download or read book Autonomous Underwater Vehicle AUV for the Study of Coastal and Upper Ocean Processes at the Woods Hole Oceanographic Institution written by and published by . This book was released on 2007 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: We have acquired a custom REMUS Autonomous Underwater Vehicle for use in coastal and shelfbreak environments. During the past two years, we have operated the vehicle in a wide variety of oceanographic settings including the shelfbreak off New Jersey and New England, the Arctic coast near Barrow Alaska, Glove's Reef off Belize, and Vineyard Sound, Massachusetts. The vehicle capabilities have been enhanced to include an Inertial Navigation System, GPS/Iridium communications, and a SeaBird CTD. We have recently completed a study of cooling of a coastal current east of Cape Cod in winter and two manuscripts will result from this work. The vehicle was also used in the AWACS experiments off New Jersey and New England, providing the first deployment of an AUV in the shelfbreak front.

Book Bioluminescence And Chemiluminescence Progress And Current Applications

Download or read book Bioluminescence And Chemiluminescence Progress And Current Applications written by Larry J Kricka and published by World Scientific. This book was released on 2002-11-05 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Proceedings of the 12th International Symposium on Bioluminescence (BL) and Chemiluminescence (CL) contains up-to-date information on the latest developments in BL and CL presented by scientists from around the world.Light-emitting reactions are now a vital component of many key technologies in research and in routine analytical laboratories — replacing radionuclides in many situations. This volume presents a compilation of the latest developments from key experts and leading-edge researchers in this area.

Book Bioluminescence Chemiluminescence

Download or read book Bioluminescence Chemiluminescence written by Larry J. Kricka and published by World Scientific. This book was released on 2002 with total page 564 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Proceedings of the 12th International Symposium on Bioluminescence (BL) and Chemiluminescence (CL) contains up-to-date information on the latest developments in BL and CL presented by scientists from around the world.Light-emitting reactions are now a vital component of many key technologies in research and in routine analytical laboratories OCo replacing radionuclides in many situations. This volume presents a compilation of the latest developments from key experts and leading-edge researchers in this area."

Book Real Time Modeling of Cross Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle AUV

Download or read book Real Time Modeling of Cross Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle AUV written by Kevin Michael Bryne and published by . This book was released on 1998-03-01 with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt: A virtual world provides an exceptional resource for the testing and development of an Autonomous Underwater Vehicle (AUV). The difficulties associated with the underwater environment are numerous and complex. In order to properly verify vehicle results in the laboratory such a world must accurately model the physics associated with the vehicle, its submerged hydrodynamics characteristics, and interactions with the environment. Environmental effects such as wave motion, currents, and flow forces created by bodies moving through the water can cause unpredicted performance variations and failures in the ocean environment. The current Phoenix AUV virtual world includes steady state ocean currents, but does not take into account the environmental effects of waves and flow forces induced by adjacent vehicles (such as a moving submarine docking target). This work provides a thorough real time simulation of these complex factors using physically based models. The problem is broken down into wave motion effects, submarine induced flow fields, and virtual sensors to improve AUV motion control. Simulated testing is performed across a range of easy to worst case scenarios in order to justify assumptions. Extensive testing using virtual sensors is used to develop adequate control algorithms in the presence of turbulent cross body flow. The result of this research is an enhanced virtual world which more accurately depicts the ocean environment, along with the models and control algorithms required to design and operate an AUV during submarine launch and recovery. A platform independent approach to virtual environment simulation is presented through the use of the Virtual Reality Modeling Language (VRML) and Java. Finally, simulation test results provide strong evidence that AUV control with actual cross body flow sensors can enable stable navigation, first through a turbulent flow field and then for subsequent docking with

Book Development of a Morphing Autonomous Underwater Vehicle for Path and Station Keeping in Complex Current Environments

Download or read book Development of a Morphing Autonomous Underwater Vehicle for Path and Station Keeping in Complex Current Environments written by Andrea M. Meneses and published by . This book was released on 2014 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and station keeping of an AUV under the inuence of unsteady current force. A constant ocean current superimposed with a sinusoidal component is considered. The vehicle's response is analyzed for a range of current frequencies.

Book Acoustic Navigation for the Autonomous Underwater Vehicle Remote Environmental Measuring UnitS

Download or read book Acoustic Navigation for the Autonomous Underwater Vehicle Remote Environmental Measuring UnitS written by Thomas Friedrich Fulton and published by . This book was released on 2000 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Book Experiments with the REMUS AUV

Download or read book Experiments with the REMUS AUV written by Matthew D. Phaneuf and published by . This book was released on 2004-06-01 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis centers on actual field operations and post-mission analysis of data acguired using a REMUS AUV operated by tbe Naval Postgraduate School center for Autonomous Underwater Vehicle Research. It was one of many platforms tbat were utilized for data collection during AOSN II, (Autonomous Oceanograpbic Sampling Network II), an ONR sponsored exercise for dynamic oceanograpnic data taking and model based analysis using adaptive sampling. Tbe vebicle's ability to collect oceanograpnic data consisting of conductivity, temperature, and salinity during tbis experiment is assessed and problem areas investigated. Of particular interest are the temperature and salinity profiles measured from long transect runs of 18 Km. length into tbe soutbern parts of Monterey Bay. Experimentation witn tne REMUS as a mine detection asset was also performed. Tbe design and development of the mine hunting experiment is discussed as well as its results and tneir analysis. Of particular interest in tbis portion of tne work is tne issue relating to repeatability and precision of contact localization, obtained from vehicle position and sidescan sonar measurements.

Book Springer Handbook of Ocean Engineering

Download or read book Springer Handbook of Ocean Engineering written by Manhar R. Dhanak and published by Springer. This book was released on 2016-07-23 with total page 1344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook is the definitive reference for the interdisciplinary field that is ocean engineering. It integrates the coverage of fundamental and applied material and encompasses a diverse spectrum of systems, concepts and operations in the maritime environment, as well as providing a comprehensive update on contemporary, leading-edge ocean technologies. Coverage includes an overview on the fundamentals of ocean science, ocean signals and instrumentation, coastal structures, developments in ocean energy technologies and ocean vehicles and automation. It aims at practitioners in a range of offshore industries and naval establishments as well as academic researchers and graduate students in ocean, coastal, offshore and marine engineering and naval architecture. The Springer Handbook of Ocean Engineering is organized in five parts: Part A: Fundamentals, Part B: Autonomous Ocean Vehicles, Subsystems and Control, Part C: Coastal Design, Part D: Offshore Technologies, Part E: Energy Conversion

Book Verification of a 6 degree of Freedom Simulation Model for the REMUS AUV

Download or read book Verification of a 6 degree of Freedom Simulation Model for the REMUS AUV written by Timothy Jason Prestero and published by . This book was released on 2001 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge. Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. This thesis describes the derivation of these coefficients in detail. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle.