A Variable Buoyancy Control System for a Large AUV

Tangirala, S.; Dzielski, John

doi:10.1109/joe.2007.911596

Cited by 93 publications

(50 citation statements)

References 3 publications

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“…It would also enhance vehicle control and efficiency in areas of changing density. This then allows for surveys at multiple depths, prevents early dive termination should drastically different density be encountered [22], and reduce risk for difficult missions under polar ice [6]. Having a neutrally buoyant vehicle will also add maneuverability, allowing vehicles to easily hover or reverse directions.…”

Section: Motivationmentioning

confidence: 99%

Variable buoyancy system metric

Jensen¹

2009

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Over the past 20 years, underwater vehicle technology has undergone drastic improvements, and vehicles are quickly gaining popularity as a tool for numerous oceanographic tasks. Systems used on the vehicle to alter buoyancy, or variable buoyancy (VB) systems, have seen only minor improvements during the same time period. Though current VB systems are extremely robust, their lack of performance has become a hinderance to the advancement of vehicle capabilities.This thesis first explores the current status of VB systems, then creates a model of each system to determine performance. Second, in order to quantitatively compare fundamentally different VB systems, two metrics, β m and β vol , are developed and applied to current systems. By determining the ratio of performance to size, these metrics give engineers a tool to aid VB system development. Finally, the fundamental challenges in developing more advanced VB systems are explored, and a couple of technologies are investigated for their potential use in new systems.

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Section: Motivationmentioning

confidence: 99%

Variable buoyancy system metric

Jensen¹

2009

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“…The drawback of the system is that it is not as accurate as using thrusters. In (Tangirala & Dzielski, 2007) a variable buoyancy system is described that consists of two water tanks with pumps and valves. If more negative buoyancy is needed, the tanks are open to seawater.…”

Section: Propulsion Dive and Buoyancymentioning

confidence: 99%

“…3. The Seahorse AUV (Tangirala & Dzielski, 2007) Some of the advantages of a cylindrical hull are (Ross, 2006):…”

mentioning

confidence: 99%

The State-of-Art of Underwater Vehicles - Theories and Applications

Wang¹,

Engelaar²,

Chen³

et al. 2009

Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions

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“…The internal systems demand use of internal space and include variable buoyancy systems [8] and methods that extend the current (survey) approach by maintaining a vehicle pitch angle using non-speed dependent methods such as control moment gyros [9] or moving mass systems [10].…”

Section: Alternative Approaches To Controlling Positive Buoyancymentioning

confidence: 99%

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

Palmer¹,

Hearne²,

Stevenson³

2009

IJME

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SUMMARYPositively buoyant autonomous underwater vehicles (AUVs) operate at survey speeds with a pitch angle that is maintained through application of the control surfaces, sufficient to generate hydrodynamic forces to counteract the excess buoyancy. To facilitate lower forward speeds and the ability to hover requires some additional method of control. This paper reviews possible options and then indicates how control can be achieved using a single or pair of through-body tunnel thrusters. New equations appropriate to AUVs are proposed and experimental results are used to estimate the equation parameters. These equations are used within a simulation of the Autosub AUV to determine the response of the AUV during the transition between survey and low speed operation. The results obtained from the simulations are analysed in terms of the performance of the AUV and the demanded energy levels to assess the feasibility of using tunnel thrusters as a low speed control device. NOMENCLATURE

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A Variable Buoyancy Control System for a Large AUV

Cited by 93 publications

References 3 publications

Variable buoyancy system metric

Variable buoyancy system metric

The State-of-Art of Underwater Vehicles - Theories and Applications

A Theoretical Approach to Facilitating Transition Phase Motion in a Positively Buoyant Autonomous Underwater Vehicle

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