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1.
Rentschler M.E. Hover F.S. Chryssostomidis C. 《Oceanic Engineering, IEEE Journal of》2006,31(1):200-208
The authors focus on demonstrating a simple design procedure for the Odyssey III autonomous underwater vehicle (AUV) flight control system. This procedure can be carried out quickly and routinely to maximize vehicle effectiveness. A hydrodynamic model of the vehicle was first developed from theory and bench-top laboratory tests. Using this initial model, a controller was developed from basic principles. Then, using this initial controller to reach a desired typical operating condition, a very compact set of open-loop maneuvers was performed in the field. The vehicle model was optimized using the Nelder-Mead simplex method, and a revised controller was then implemented and tested successfully. 相似文献
2.
This paper presents a technique for adaptively tracking bathymetric contours using an autonomous underwater vehicle (AUV) equipped with a single altimeter sonar. An adaptive feature mapping behavior is developed to address the problem of how to locate and track features of unknown extent in an environment where a priori information is unavailable. This behavior is implemented as part of the layered control architecture used by the AUV Odyssey II. The new adaptive feature mapping behavior builds on previous work in layered control by incorporating planning and mapping capabilities that allow the vehicle to alter its trajectory online in response to sensor data in order to track contour features. New waypoints are selected by evaluating the expected utility of visiting a given location balanced against the expected cost of traveling to a particular cell. The technique is developed assuming sensor input in the form of a single, narrow-beam altimeter sensor attached to a non-holonomic, dynamically controlled survey-class AUV such as the Odyssey II. Simulations of the Charles River basin which have been constructed from real bathymetry data are used as test missions. The 7-m contour line of a prominent trench in the river serves as the target feature. The adaptive contour following behavior tracks the contour despite navigation error and environmental disturbances, supplying the capability of autonomously detecting and following distinctive bathymetric features using a point sensor. This behavior provides a foundation for future research in tracking of dynamic features in the water-column and for concurrent mapping and localization over natural terrain using a point sensor 相似文献
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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献
4.
In terms of the nonlinear characteristics of hydraulic propulsion system used in 3500 m rated work-class ROV (remotely operated underwater vehicle), the paper improved the responsiveness of the hydraulic propulsion system by adding an impulse signal to the input end of the system. Because the maximum static damping moment provided from water is much larger than the dynamic damping moment, it results in large dead zone of thrust during the startup process of the hydraulic propulsion system. The dead zone of thrust caused by static damping moment can be effectively reduced by adding a specific impulse signal to the input end of the propulsion system. The results of numerical simulations and underwater experiments show that using this method, the nonlinear characteristics of the hydraulic propulsion system have been significantly improved. 相似文献
5.
摆动尾鳍水动力性能的试验和数值研究 总被引：1，自引：0，他引：1
鱼类能够在水下高速度、低噪音、高效率地游动。鱼类出色的推进性能通过其摆动尾鳍实现。这种摆动尾鳍推进方式已经用在了水下无人航行器上。因此研究摆动尾鳍的水动力性能是非常有意义的。对摆动尾鳍的推进水动力性能进行了详尽的研究。设计、装配了一套仿尾鳍推进系统,并对其进行了相应的水动力试验。在试验中研究了运动参数对摆动尾鳍水动力性能的影响。与此同时,采用基于雷诺平均N-S方程的数值方法对摆动尾鳍的水动力性能进行了研究。在数值计算中采用了k-ωSST湍流模型和有限体积法。数值计算结果和水动力试验结果进行了比较。对尾鳍表面的压力分布和流场中的尾涡结构进行了分析。水动力试验和数值计算都表明摆动尾鳍可以产生推进力和较高的推进效率。 相似文献
6.
Experiments on vision guided docking of an autonomous underwater vehicle using one camera 总被引：1，自引：0，他引：1
This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV. 相似文献
7.
近海海上风电场水下噪声传播模型适用性研究 总被引：1，自引：0，他引：1
通过现场采集近海海上风电场工程区运营期风机水下噪声和背景噪声数据,计算了噪声信号的倍频带声压级,功率谱级和峰值声压级,确定了海上风电场水下噪声总声源级为148.3 d B,以此开展近海海上风电工程风机水下噪声频域特性、功率密度谱特性等研究。在此基础上使用Kraken简正波模型和Bellhop射线模型对风电场运营期风机水下噪声在水平与垂直方向上的传播进行模拟,模拟了噪声在不同频带内的衰减程度,结果显示模型模拟结果在不同频率下的衰减趋势有着很大差异,产生了明显的多途干涉现象,通过实测数据对建立的噪声传播模型进行验证,发现Kraken简正波模型在500 Hz以下,Bellhop射线模型在500 Hz以上适合模拟实际水下噪声传播情形,同时海区本身背景噪声的存在会对预测的准确性产生影响。这些结论可用于进一步对近海海上风电场水下噪声传播的研究。 相似文献
8.
The hydrodynamic interaction between an Autonomous Underwater Vehicle (AUV) manoeuvring in close proximity to a larger underwater vehicle can cause rapid changes in the motion of the AUV. This interaction can lead to mission failure and possible vehicle collision. Being self-piloted and comparatively small, an AUV is more susceptible to these interaction effects than the larger body. In an aim to predict the manoeuvring performance of an AUV under the effects of the interaction, the Australian Maritime College (AMC) has conducted a series of computer simulations and captive model experiments. A numerical model was developed to simulate pure sway motion of an AUV at different lateral and longitudinal positions relative to a larger underwater vehicle using Computational Fluid Dynamics (CFDs). The variables investigated include the surge force, sway force and the yaw moment coefficients acting on the AUV due to interaction effects, which were in turn validated against experimental results. A simplified method is presented to obtain the hydrodynamic coefficients of an AUV when operating close to a larger underwater body by transforming the single body hydrodynamic coefficients of the AUV using the steady-state interaction forces. This method is considerably less time consuming than traditional methods. Furthermore, the inverse of this method (i.e. to obtain the steady state interaction force) is also presented to obtain the steady-state interaction force at multiple lateral separations efficiently. Both the CFD model and the simplified methods have been validated against the experimental data and are capable of providing adequate interaction predictions. Such methods are critical for accurate prediction of vehicle performance under varying conditions present in real life. 相似文献
9.
海上风电场建设期风机打桩会产生高强度的水下噪声,研究水下冲击打桩噪声的监测方法、特性分析及对海洋生物的影响是非常重要的。采用自容式水下声音记录仪,多点同步测量了福建省兴化湾海上风电场二期工程建设期单次完整的水下冲击打桩噪声,从时频域特性进行了分析,并利用最小二乘法拟合得到了打桩声源级和声暴露级。结果表明：水下冲击打桩噪声是典型的低频、高强度的脉冲信号,单个脉冲持续时间约90~100 ms,峰值声源级约209.4±2 dB,声暴露级约197.7±2 dB;主要能量分布在50 Hz~1 kHz频段,750 m测量点的该频段声压级相比海洋环境背景噪声,提高了约40~50 dB。水下冲击打桩噪声频域能量分布与大黄鱼的听觉敏感频段相重叠,对大黄鱼影响程度和范围较大,实际工程应用中宜采用声暴露级作为评价指标。 相似文献
10.
针对适合捷联式重力仪的AUV搭载平台的选型问题,基于国内AUV实际航行数据,分析了多推进器组合、推进器和浮力舱组合、推进器和鳍舵组合等3类AUV的定深航行运动特性;推导了AUV水下航行在3个坐标轴方向上对重力仪产生的运动加速度计算公式,得到运动加速度与AUV水下6个自由度运动要素的解析表达式;基于运动加速度分析,讨论了适用于水下移动重力测量的AUV平台和推进装置设计,进行了AUV搭载平台的优选,并给出了重力仪安装位置建议;选定的AUV实验平台实施移动重力测量验证试验重复线精度达到0.42mGal,验证了搭载平台优选的有效性。 相似文献
11.
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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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
14.
This paper describes a controlled self-motion study recently carried out using a small autonomous underwater vehicle (AUV) in a controlled environment in which regular and random waves can be generated accurately for various frequencies and heights. In this study, the AUV was one of the Florida Atlantic University's Ocean Explorer series vehicles, and the controlled environment was chosen to be the Maneuvering And Sea-Keeping (MASK) facilities located at the David Taylor Model Basin. During the entire study, 29 sets of experimental motion and wave data were collected under various wave frequencies and heights, vehicle alignment, and operating depths. Due to the wave tank constraint, the vehicle speed was restricted to be less than 1.5 m/s and the wave frequency higher than 0.3 Hz without significantly affecting the self-motion analysis. Time history and power spectral density results suggest that the roll-induced pitching response was considerably larger for the wave frequencies tested, as compared to the pitch-induced rolling response. Standard deviation results reveal that the existing OEX is capable of producing approximately 3° (peak-to-peak) pitch, 0.7° (peak-to-peak) roll, and 0.6° (peak-to-peak) yaw at 2-m depth in the head-sea condition when the encountering wave frequency is close to 0.4 Hz. However, at 1.5-m vehicle depth, significant surges were observed in pitching and rolling motion, suggesting that the OEX is currently unsuitable to maintain accurate depth-following within this range at sea-state 2 or higher. It is hoped that the results presented can provide better insights into how a small AUV with a nonideal body shape reacts to waves of different sea states, and how vehicle self-motion can be streamlined by choosing proper vehicle speed, heading, and depth, given that the wave characteristics are available 相似文献
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In this paper, the hydrodynamic characteristic of a synthetic jet steered underwater vehicle is studied. The steering motion studied is the lateral motion and the yaw motion. The lateral motion is induced through the in-phase work of this two actuators and the yaw motion is realized through the out-of-phase work. The vehicle studied is REMUS AUV with synthetic jet actuator mounted inside. The hydrodynamic characteristic of the vehicle under different cruising speed is studied. The driving parameters of the SJ actuator keep invariant in different cases. When the two actuators work in phase, the average steering force is smaller than the thrust of the isolated actuator and keeps nearly invariant under different cruising speed. When the two actuators work out of phase, the average steering moment also keeps invariant with cruising speed. The mathematical model of the additional drag of the vehicle, the thrust of the actuator, the steering force as well as the steering moment is given. The velocity distribution is also given to assistant the analysis in this paper. From the analysis given it can be known the steering method based on SJ is realized through position control other than velocity control. 相似文献
17.
The underwater acoustic noise of five representative whale-watching boats used in the waters of west Maui was measured in order to study the effects of boat noise on humpback whales. The first set of measurements were performed on 9 and 10 March, close to the peak of the whale season. The ambient noise was relatively high with the major contribution from many chorusing humpback whales. Measurements of boat sounds were contaminated by this high ambient background noise. A second set of measurements was performed on 28 and 29 April, towards the end of the humpback whale season. In both sets of measurements, two of the boats were inflatables with outboard engines, two were larger coastal boats with twin inboard diesel engines and the fifth was a small water plane area twin hull (SWATH) ship with inter-island cruise capabilities. The inflatable boats with outboard engines produced very complex sounds with many bands of tonal-like components. The boats with inboard engines produced less intense sounds with fewer tonal bands. One-third octave band measurements of ambient noise measured on 9 March indicated a maximum sound pressure level of about 123 dB re 1 microPa at 315 Hz. The maximum sound pressure level of 127 dB at 315 Hz was measured for the SWATH ship. One of the boats with outboard engines produced sounds between 2 and 4 kHz that were about 8-10 dB greater than the level of background humpback whale sounds at the peak of the whale season. We concluded that it is unlikely that the levels of sounds produced by the boats in our study would have any grave effects on the auditory system of humpback whales. 相似文献
18.
Three-dimensional visualization of mission planning and control forthe NPS autonomous underwater vehicle 总被引：1，自引：0，他引：1
Zyda M.J. McGhee R.B. Kwak S. Nordman D.B. Rogers R.C. Marco D. 《Oceanic Engineering, IEEE Journal of》1990,15(3):217-221
The Naval Postgraduate School (NPS) is constructing a small autonomous underwater vehicle (AUV) with an onboard mission control computer. The mission controller software for this vehicle is a knowledge-based artificial intelligence (AI) system requiring thorough analysis and testing before the AUV is operational. The manner in which rapid prototyping of this software has been demonstrated by developing a controller code on a LISP machine and using an Ethernet link with a graphics workstation to simulate the controller's environment is discussed. The development of a testing simulator using a knowledge engineering environment (KEE) expert system shell that examines AUV controller subsystems and vehicle models before integrating them with the full AUV for its test environment missions is discussed. This AUV simulator utilizes an interactive mission planning control console and is fully autonomous once initial parameters are selected 相似文献
19.
Marine biological choruses observed in Xiamen harbour from August 1981 to October 1982 lasted for a few hours each time during the neap tide in spring, summer and autumn, in both the evening and the morning, with molt energy at frequencies between 700 Hz and 1.6 kHz and spectral peaks mainly at 800 Hz, 1 kHz and 1.25 kHz. During choruses, noise spectrum levels rose up to 46 dB higher than the background noise in the sea Mate 0. The statistics of occurrence of the evening choruses indicate that they might be fairly widespread in and near shallow waters of the region. Sources of such choruses are likely to be attributed to Johnnius belengerii and Collichthys lucidut of the family Sciaenidae. 相似文献
20.
Recent advances in autonomous underwater vehicle (AUV) and underwater communication technology have promoted a surge of research activity within the area of signal and information processing. A new application is proposed herein for capturing and processing underwater video onboard an untethered AUV, then transmitting it to a remote platform using acoustic telemetry. Since video communication requires a considerably larger bandwidth than that provided by an underwater acoustic channel, the data must be massively compressed prior to transmission from the AUV. Past research has shown that the low contrast and low-detailed nature of underwater imagery allows for low-bit-rate coding of the data by wavelet-based image-coding algorithms. In this work, these findings have been extended to the design of a wavelet-based hybrid video encoder which employs entropy-constrained vector quantization (ECVQ) with overlapped block-based motion compensation. The ECVQ codebooks were designed from a statistical source model which describes the distribution of high subband wavelet coefficients in both intraframe and prediction error images. Results indicate that good visual quality can be achieved for very low bit-rate coding of underwater video with our algorithm 相似文献