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1.
The design of an autonomous underwater vehicle (AUV) involves complex tradeoffs among various design variables and mission requirements. Particularly important are the selection of a suitable energy source and the sensitivity of vehicle dimensional characteristics to mission requirements. A method of comparison based on an approximate but comprehensive approach which refers to specific parameters derivable from known designs or literature is suggested. Specific energy and energy density of candidate systems are derived with due consideration to depth-resistant vessels. The impact of the energy system choice is highlighted, going beyond simply comparing the former parameters. A design model has been developed, allowing quick sensitivity and mass-volume breakdown of alternative configurations under varying mission requirements; these are exemplified with reference to a design case. The procedure allows the correct specification of power, energy, and surface-handling systems for more detailed comparative analyses, given a common project goal and a basis for realistic cost comparison. The results show wide differences in the energy capacity of AUVs complying with identical mission data, but using with different energy systems. It is concluded that rechargeable electric batteries, even of high energy density, result in unacceptably heavy vehicles for ranges around 1000 km unless very low drag characteristics are achieved. Closed-cycle diesel and fuel cell systems allow the AUV mass to be kept below 10 t 相似文献
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N. Vedachalam R. Ramesh V. Bala Naga Jyothi V. Doss Prakash G. A. Ramadass 《Marine Georesources & Geotechnology》2013,31(5):525-538
ABSTRACTReliable power supply, precise position determination and effective communication are the key requirements for strategic autonomous underwater vehicles (AUV) involved in long duration scientific missions, search operations and when operated as a swarm. The paper presents the challenging range of AUV developed for deep water, Polar and intervention applications; demanding technical requirements for strategic AUV; reliability modeling done on the lithium-ion batteries to identify the redundancy requirements for achieving near-zero failures; navigation model to estimate the achievable level of position accuracies using the state-of-the-art navigation system; limitations in underwater communication; and their importance in realizing vehicle autonomy and swarm intelligence. It is identified that a strategic grade Doppler velocity- aided inertial navigation system could provide position accuracies of about 0.5% of the distance travelled when navigated using sea bottom or ice reference, and a 38?kWh lithium-ion battery pack requires about 7% redundant battery capacity to achieve a failure probability of <?1% in a period of 1 year. 相似文献
4.
The paper addresses the problem of autonomous underwater vehicle (AUV) modelling and parameter estimation as a means to predict the dynamic performance of underwater vehicles and thus provide solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to estimate the hydrodynamic derivatives of a popular class of AUVs is discussed. A comparison is done with the results obtained by using computational fluid dynamics to evaluate the bare hull lift force distribution around a fully submerged body. An application is made to the estimation of the hydrodynamic derivatives of the MAYA AUV, an autonomous underwater vehicle developed under a joint Indian-Portuguese project. The estimates obtained were used to predict the turning diameter of the vehicle during sea trials. 相似文献
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Feezor M.D. Yates Sorrell F. Blankinship P.R. 《Oceanic Engineering, IEEE Journal of》2001,26(4):522-525
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return from a mission, in that there is consistent recovery or docking of the AUV. In addition, some missions may require communication with and power transfer to the AUV after docking. This paper describes an inductive system that provides a nonintrusive power and communications interface between the dock and the AUV. The system makes up to 200 W of AC or DC power available to the AUV. The communications interface is 10BaseT Ethernet and is platform- and protocol-independent. The overall design of the system is given as well as results from wet laboratory and field tests 相似文献
6.
This paper provides a technology assessment for an unmanned underwater vehicle (UUV) fuel cell energy/power system (FCEPS), including design methodology and design concepts. The design concepts are based on the polymer electrolyte membrane fuel cell (FC) operating on hydrogen and oxygen. The technology assessment method presented is a holistic approach which combines alternative hydrogen and oxygen storage [and fuel cell system (FCS)] options to provide the highest specific energy and energy density-within the constraints of the UUV application. Using this method, some surprising combinations appear as the theoretical ldquowinnersrdquo for maximum energy storage within the application constraints of the UUV. 相似文献
7.
The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems. 相似文献
8.
Extensive use of autonomous underwater vehicles (AUVs) in oceanographic applications necessitates investigation into the hydrodynamic forces acting over an AUV hull form operating under deeply submerged condition. This paper presents a towing tank-based experimental study on forces and moment on AUV hull form in the vertical plane. The AUV hull form considered in the present program is a 1:2 model of the standard hull form Afterbody1. The present measurements were carried out at typical speeds of autonomous underwater vehicles (0.4-1.4 m/s) by varying pitch angles (0-15°). The hydrodynamic forces and moment are measured by an internally mounted multi-component strain gauge type balance. The measurements were used to study variation of axial, normal, drag, lift and pitching moment coefficients with Reynolds number (Re) and angle of attack. The measurements have also been used to validate results obtained from a CFD code that uses Reynolds Average Navier-Stokes equations (ANSYS™ Fluent). The axial and normal force coefficients are increased by 18% and 195%; drag, lift and pitching moment coefficients are increased by 90%, 182% and 297% on AUV hull form at α=15° and Rev=3.65×105. These results can give better idea for the efficient design of guidance and control systems for AUV. 相似文献
9.
Feezor M.D. Yates Sorrell F. Blankinship P.R. Bellingham J.G. 《Oceanic Engineering, IEEE Journal of》2001,26(4):515-521
Central to the successful operation of an autonomous undersea vehicle (AUV) is the capability to return to a dock, such that consistent recovery of the AUV is practical. Vehicle orientation becomes increasingly important in the final stages of the docking, as large changes in orientation near the dock are impractical and often not possible. A number of homing technologies have been proposed and tested, with acoustic homing the most prevalent. If AUV orientation is required as well as bearing and distance to the dock, an acoustic homing system will require high update rates, and extensive signal conditioning. An Electromagnetic Homing (EM) system is one alternative that can provide accurate measurement of the AUV position and orientation to the dock during homing. This system offers inherent advantages in defining the AUV orientation, when compared to high frequency acoustic systems. The design and testing of an EM homing system are given, with particular attention to one can be adapted to a wide class of AUVs. A number of homing, docking, and latching trials were successfully performed with the design. Homing data include dead reckoning computation and acoustic tracking of the homing track, and video documentation of homing into the dock 相似文献
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便携式AUV具有结构紧凑、机动性好、制造和使用成本低等优点,本文设计AUV的底层控制系统和自主导航系统,并进行仿真验证和人工湖试验,结果证明底层控制系统具有很好的鲁棒性,基于AHRS、数字罗盘和GPS的惯性导航算法能够通过浅水节点潜航方式实现AUV自主导航。 相似文献
12.
Maneuvering modeling and simulation of AUV dynamic systems with Euler-Rodriguez quaternion method 总被引：1，自引：0，他引：1
The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles (AUVs) at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom (6-DOF) integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely "put-out" was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes. 相似文献
13.
Taylor G.W. Burns J.R. Kammann S.A. Powers W.B. Welsh T.R. 《Oceanic Engineering, IEEE Journal of》2001,26(4):539-547
The Energy Harvesting Eel (Eel) is a new device that uses piezoelectric polymers to convert the mechanical flow energy, available in oceans and rivers, to electrical power. Eel generators make use of the regular trail of traveling vortices behind a bluff body to strain the piezoelectric elements; the resulting undulating motion resembles that of a natural eel swimming. Internal batteries are used to store the surplus energy generated by the Eel for later use by a small, unattended sensor or robot. Because of the properties of commercially available piezoelectric polymers, Eels will be relatively inexpensive and are easily scaleable in size and have the capacity to generate from milli-watts to many watts depending on system size and flow velocity of the local environment. A practical Eel structure has been developed that uses the commercially available piezoelectric polymer, PVDF. Future Eels may use more efficient electrostrictive polymer. Every aspect of the system from the interactions between the hydrodynamics of the water flow and structural elements of the Eel, through the mechanical energy input to the piezoelectric material, and finally the electric power output delivered through an optimized resonant circuit has been modeled and tested. The complete Eel system, complete with a generation and storage system, has been demonstrated in a wave tank. Future work on the Eel will focus on developing and then deploying a small, lightweight, one-watt power generation unit, initially in an estuary and then subsequently in the ocean. Such Eels will have the ability to recharge batteries or capacitors of a distributed robotic group, or remote sensor array, thus extending the mission life indefinitely in regions containing flowing water 相似文献
14.
Singh H. Bellingham J.G. Hover F. Lemer S. Moran B.A. von der Heydt K. Yoerger D. 《Oceanic Engineering, IEEE Journal of》2001,26(4):498-514
In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of mechanically docking the vehicle. We show that our technique for homing is extremely robust in the face of the two dominant sources of error-namely the presence of currents and the presence of magnetic anomalies. Our strategy for homing is independent of the initial bearing of the dock to the AUV, includes a method for detecting when the vehicle has missed the dock, and automatically ensures that the AUV is in a position to retry homing with a greater chance of success. Our approach is seen to be extremely successful in homing the vehicle to the dock, mechanically attaching itself to the dock, aligning inductive cores for data and power transfer, and undocking at the start of a fresh mission. Once the AUV is on the dock, we present a methodology that allows us to achieve the complex tasks with ensuring that the AUV is securely docked, periodically checking vehicle status, reacting to a vehicle that requires charging, tracking it when it is out on a mission, archiving and transmitting via satellite the data that the AUV collects during its missions, as well as providing a mechanism for researchers removed from the site to learn about vehicle status and command high-level missions. The dock is capable of long-term deployments at a remote site while respecting the constraints - low power, small size, low computational energy, low bandwidth, and little or no user input - imposed by the amalgamation of acoustic, electronic and mechanical components that comprise the entire system 相似文献
15.
Robust Range-Only Beacon Localization 总被引：2，自引：0，他引：2
In this paper, we present a system capable of simultaneously estimating the position of an autonomous underwater vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an extended Kalman filter (EKF). We have successfully applied our algorithms to real-world data and have demonstrated a simultaneous localization and mapping (SLAM) system whose navigation performance is comparable to that of systems that assume known beacon locations 相似文献
16.
水下自航式海洋观测平台技术发展研究 总被引：3，自引：2，他引：3
水下自航式海洋观测平台是一种新型海洋观测平台，主要用于无人、大范围、长时间水下环境监测，包括物理学参数、海洋地质学和地球物理学参数，海洋化学参数、海洋生物学参数及海洋工程方面的现场接近观测。其特点是：成本低，环境适应性强，可冲破人工潜水极限而进入现场进行接近观测，免除了ROV需要水面支援母船的累赘，减少作业经费，体积小，使用方便，便于布放回收；可根据水声信号摇控或预置程序控制，按要求进行相关项目观测；有自主动力，水下运行时间相对较长，有源噪声低，可进行隐弊观测，正是基于以上的优点，近几年颇得海洋环境监测和海军方面的青睐，本文介绍了国际上水下自动观测平台的发展历史和现状，提出了我国开展研究水下自动观测平台的重要性及研究的面容。 相似文献
17.
Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements 总被引：2，自引：0，他引：2
Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame. 相似文献
18.
Stokey R. Allen B. Austin T. Goldsborough R. Forrester N. Purcell M. von Alt C. 《Oceanic Engineering, IEEE Journal of》2001,26(4):487-497
A dock for an autonomous underwater vehicle (AUV) allows the vehicle to be left on station ready for deployment. However, it represents a significant engineering challenge, as docking requires an accurate navigation system so that the vehicle can find the dock, and complex mechanics to make the required underwater power and data connections. This paper describes the docking system built for the REMUS AUV. It outlines the basis for the design decisions, the as-built configuration, and its performance once deployed. It also delineates the lessons learned from the deployments, and the refinements in the vehicle that have been made since that time, that will improve the system's utility and reliability 相似文献
19.
海上油田开发具有勘探投入大、采油平台使用寿命短、生产操作费用高和水驱采收率低等特点，如何提高采收率是油田开发面临的重大技术难题。从海上油田LD10—1开发实际需求出发，结合油藏地质特征和流体性质特点，利用理论分析和室内评价实验，开展了早期聚合物凝胶和聚合物驱增油效果及其影响因素实验研究。结果表明，早期实施聚合物驱不仅大大缩短油田开发时间、节省操作费用，而且最终采收率也比中后期实施时高。在化学药剂费用相同条件下，“聚合物凝胶＋聚合物”段塞组合驱的增油效果要好于单纯聚合物驱。A23井单井组聚合物驱矿场试验于2006年3月23日开始，矿场监测结果表明，注入压力大幅度提高，吸液剖面明显改善，部分油井已陆续见到“增油降水”效果。 相似文献
20.
英国海上风电产业起步较晚,但发展迅猛,成为全球海上风电产业的领头羊。英国海上风电产业扶持政策依次经历过非化石燃料义务制度、可再生能源义务制度、差价合约制度等阶段。差价合约制度作为可再生能源义务制度的后继制度,在制度上有较多的创新之处,有效地推动了英国海上风电产业的发展。文章基于差价合约制度与可再生能源义务制度的分析和比较,结合英国海上风电2030年规划目标,深入分析发现差价合约制度对英国海上风电产业发展具有较大的推动力。研究表明,差价合约制度改进了可再生能源义务制度的不足之处,能够充分利用市场机制提高海上风电企业的投资热情,降低消费者的电力消费成本,并可减轻政府的财政压力,从而推动英国海上风电产业的快速发展,这对我国具有一定借鉴意义。 相似文献