No abstract

To extend underwater duration is an important issue for autonomous underwater vehicles. Limited duration restricts the working ability of an unmanned marine vehicle (UMV) and needs frequent surface support. One of the solutions to this problem is docking that can implement functions as recharging, data exchange, maintaining and so on. A novel docking method based on manipulator assistance is carried out. In this method, a fixed handle near docking port is caught by the manipulator on the vehicle firstly. The manipulator can be controlled to obtain the vehicles body a suitable position and orientation for autonomous docking. The manipulator with floating based can be looked on as one serial manipulator with a fixed anchor. The kinematics analysis is given by using the MATLAB and ADAMS. The simulation results suggest that docking method has more stability and accuracy, and it can also reduce the collision between docking port and the vehicle. The method provides a conception of docking process between all kinds of unman marine vehicles and docking ports.

Buoy is widely applied in oceanographic research, ocean engineering and so on. The high cable tension and location derivation of its anchor can greatly affected the working condition of buoy. Multi-body software ADAMS is used to analyze the dynamics of deployment for buoy. Firstly, model of mooring buoy is developed. The forces on components of buoy are given such as drag forces, inertia force and impact force between bottom and anchor. The program is developed by macro commands in ADAMS environment. The trajectory and tension force of different nodes on buoy are calculated. This method can simulate the dynamics of deployment process for buoy system. And it is also helpful for guidance for buoy design and deployment process planning.

Building 3D model for a new type direct-drive NC Turret tool post, and introduce the model into ADAMS for further kinematics and dynamics simulation. In the kinematics simulation, observing the motion process of the direct-drive NC turret tool post and plots the trajectory of moving parts to a curve. Simulate the force condition of the NC turret tool post in actual situation, calculate the axial load and verify the clamping force in dynamics simulation.

Acoustic Doppler Current Profiler (ADCP) is one effective instrument to measure the sea current and is widely utilized in oceanographic research and ocean engineering. Some structure or frame is utilized to carry or hold ADCP in mooring system. This paper studies the hydrodynamics of different kinds of ADCP carriers and the motion of mooring system with ADCP carriers. By applying Fluent software external flow field of ADCP carrier is analyzed. Meanwhile, the velocity distribution and pressure distribution are obtained. Drag coefficients of ADCP carrier are used to analyze the mechanics and profile of mooring system with ADCP. Designing the ADCP carrier and mooring system is very useful which can provide theoretic basis for current data analysis.