Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

Zhou, Hailiang; Yu, Pengyao; Jin, Xiang; Wang, Tianlin

doi:10.3390/jmse8090663

Cited by 5 publications

(3 citation statements)

References 32 publications

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“…The traditional torpedo-shaped underwater gliders are limited by their slow speed and restricted maneuverability, which can make them unsuitable for some applications (Javaid et al, 2014). To address some of these limitations, Disk-Type Underwater Gliders (DTUG) emerged (Nakamura et al, 2007(Nakamura et al, , 2008Yu et al, 2017;Zhou et al, 2020). Unlike torpedo-shaped gliders, DTUGs have omnidirectional motion capabilities, which make them more maneuverable and better suited for navigating complex underwater environments, such as near islands or inside narrow channels.…”

Section: Description Of the Considered Autonomous Underwater Vehiclementioning

confidence: 99%

Hydrodynamics of an underwater vehicle near the sea surface

Anargyros,

Dimitrios,

George

et al. 2024

IMDC

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The primary goal of this study is to evaluate the hydrodynamic characteristics and the wave exciting forces on a shallowly submerged vehicle. A thin, rigid plate, which is completely submerged beneath the free surface in waters of finite depth is considered herein. The examined body is similar to an unmanned vehicle which is developed in Cyprus Marine and Maritime Institute for ocean science applications. From the present analysis the phenomenon of negative added mass and rapid variations of the added mass and damping coefficients is verified due to the free surface effect which is explained in terms of near-resonant standing waves above the submerged body.

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Section: Description Of the Considered Autonomous Underwater Vehiclementioning

confidence: 99%

Hydrodynamics of an underwater vehicle near the sea surface

Anargyros,

Dimitrios,

George

et al. 2024

IMDC

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“…Su et al 32 studied a method to control the glider attitude in currents, combining reinforcement learning with active disturbance rejection control. Zhou et al 33,34 analyzed the vertical motion and in situ steering motion of a disc-type underwater glider, and the sensitivity analysis of related parameters was also conducted.…”

Section: Introductionmentioning

confidence: 99%

“…Zhou et al. 33,34 analyzed the vertical motion and in situ steering motion of a disc-type underwater glider, and the sensitivity analysis of related parameters was also conducted.…”

Section: Introductionmentioning

confidence: 99%

Multi-objective optimization for control parameters of underwater gliders considering effect of uncertain input errors

Niu

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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In actual application, the energy utilization rate of underwater glider directly affects the total voyage range. When underwater glider is used for executing exploration mission for a fixed point, the position that the glider resurfaces should be accurate enough. In this paper, we employ a multi-objective optimization method to determine the control parameters values that can maximize the position accuracy that the glider resurfaces and the energy utilization rate simultaneously. Especially, the optimization of this paper considers the effect of uncertain input errors. The control parameters include the net buoyancy adjustment amount and the movable mass block translation amount. The input errors include the control parameters errors, the motion depth error and the current. Based on the dynamic model of an underwater glider, we propose the calculation model and evaluation flow that are used for analyzing the glider position accuracy and energy utilization rate, considering the effect of uncertain input errors. Besides, a combinatorial experimental design method is proposed to calculate the performance evaluation parameters under different control parameters values. Then the radial basis function neural network is employed to establish the surrogate models of performance evaluation parameters to participate in the optimization calculation, which can improve the optimization efficiency. After optimization calculation based on the non-dominated sorting genetic algorithm II, we obtain a Pareto optimal set consisting of 257 sets of non-dominated solutions. Finally, the selection rule of optimal control parameters values is given, and the optimization results are validated under 3 sets of solutions. This research may be valuable for the improvement of the glider work quality.

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