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A hybrid underwater glider(HDUG) is developed based on a folding propeller. The blades of the propeller can fold and unfold according to the motor work or not. When it stop spinning, the blades will come to a rest position. The hydrodynamic performance will vary with the position of the blades, thus the transit efficiency of the HDUG will also vary. So there must be an optimal transit efficiency for...
This paper studies the problem of undersea bottom-following through using the Autonomous Underwater Vehicle(AUV) equipped with Altimeter and Depth gauge. We can improve the ability of AUV to perceive the information of the seabed by using the Extended Kalman Filter(EKF) to complete the information fusion of data comes from Altimeter and Depth gauge. The seabed terrain slope is estimated by the least...
This paper develops an adaptive heading controller strategy for an Autonomous Underwater Vehicle (AUV) in the presence of parameter variation and change of payload condition. To address these problems, a system identification technique i.e. Nonlinear AutoRegressive Moving Average with eXogenous input (NARMAX) structure is used to identify the AUV dynamics and subsequently a control strategy is developed...
In this paper, we study the curvature-constrained path planning problem for AUV docking in stationary obstacle environment. Expanded obstacle circles are used to redefine the polygonal obstacles, thus the curvature constraint is incorporated into the path planning algorithm. Unlike the existing algorithms that try to avoid the obstacles when the planning path collides with them, the novel algorithm...
Underwater vehicle controller design proves difficult for time varying, nonlinear dynamics, coupled model and uncertain flow. Also it is hard to construct the nonlinear coupled uncertain model. Fortunately, we find a simple method to deal with that problem. Variable universe fuzzy control algorithm is superior in model-independent and nonlinear control. Also it is a simple and universal method. It...
In this paper, meshing impact on numerical simulation of marine systems is investigated. Different mesh topologies, meshing spacing, meshing refining area are discussed. Different shaped bodies such as ball, AUV and complicated motion such as propeller rotating are simulated with compared meshes in the paper. And its converging time, solution accuracy, and local domain flow characters are compared...
For the high-speed and light Autonomous Underwater Vehicle (AUV), it is moving freely, and the speed and attitude are in dynamic movement. And for the micro electromechanical system (MEMS) technology based low-cost strapdown inertial navigation system (SINS), over too large bias drift errors not only made the system functions nonlinear, but also made the estimation for misalignment angle converge...
One of the important missions of AUVs is to take deep-sea images and make maps of sea floor to contribute the understanding of deep-sea biology and geology. The sea floor images include lots of information such as distributions of creatures, minerals and so on. The next mission expected for AUVs is to bring the samples back concurrently with taking interesting photos, autonomously. However, this mission...
AUV (autonomous underwater vehicle) design is requiring the coordination of many different disciplines, which involved in assemblity, mission and performance. Conceptual design is the least defined stage of the AUV design process. An approach for multidisciplinary optimization, multi-objective optimization study of AUV's principal parameters in conceptual design is proposed in present analysis. First,...
This work controlled a robotic fish swimming alongside a wall. Research shows that fish swimming alongside a wall use lateral lines to obtain nearfield information. This concept is also applicable in man-made underwater vehicles such as robotic fish, which mimic the swimming action of a fish. Pressure sensors on the surface of a robotic fish measure hydrodynamic pressure variation. According to two-dimensional...
The method of formation of smooth trajectories of the AUV movement during performing of missions in unknown environment is offered in paper. This method is based on use of the data from their onboard sensors of a distance and allows to correct the trajectory defines by means of Bezier's splines of the third order during AUV movement. Use of the offered approach allows to provide high precision and...
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