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This paper presents the design and experimental evaluation of a bio-inspired underwater glider with undulatory fin, which is highly maneuverable and energy efficient and holds strong promise for long-duration monitoring of aquatic environments. A novel scheme is proposed for spatially explicit water column sampling using the bio-inspired underwater glider. The scheme using spiraling motion to sample...
This paper presents a towing tank-based experiment study on hydrodynamic coefficients on the underwater glider — Seagull. The present measurements were carried out at typical speeds of glider (0.2–0.5m/s) with varying angle of attack and slide. The measurements were used to study variation of drag, lift and pitching moment coefficients and angle of attack. The measurements have also been used to validate...
In this paper, a path planning system is proposed for optimal motions of underwater glider in three-dimensional (3D) space. Inspired by the Dubins Paths consisting of straight lines and circular arcs, this paper presents the 3D Dubins curve to accommodate the characteristic glider motions, including sawtooth motion and spiral motion. This modified 3D Dubins scheme is combined with genetic algorithm...
Seagull is a small fully functional underwater glider designed for oceanographic research with 1 knot operating speed and six months duration. In this paper, we present the design of this glider and analyze its performance. The Seagull glider uses a piston-based buoyancy engine system with an inexpensive gear pump as the main system actuator. The Seagull's emergency release system is characterized...
Underwater gliders are high efficiency underwater vehicles without propeller systems. The glider is capable of sawtooth motion in the vertical plane and spiral motion along a circular helix which is aligned with gravity. Both of the two types of motion are stable and have been observed on most commercially gliders. An underwater glider is able to turn head if the two types of motion are cooperated,...
This paper presents an approach of analyzing the sawtooth and spiraling equilibrium motion of underwater gliders which is actuated by a single internal movable and rotatable mass. The equations are derived and then solved through a recursive algorithm. Hydrodynamic coefficients of the underwater glider are calculated by computational fluid dynamics (CFD) software packages. The motions of the underwater...
This study presents the control analysis and robustness of a remotely operated vehicle (ROV) with four degrees of freedom (DOFs) in the absence of one vectored thruster. ROVs play more and more important roles in recent years, while stoppage happens to the thruster of ROV now and then. In this paper, mathematic modeling, and simulation of the 200-meter ROV are presented by a IDA- PID control system...
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