Design and control of high speed unmanned underwater glider

Jeong, Sang-Ki; Choi, Hyeung-Sik; Bae, Jaehyun; You, Sam–Sang; Kang, Hyeon Seung; Lee, Shin-Je; Kim, Joon‐Young; Kim, Dong‐Hee; Yong-Kuk, Lee

doi:10.1007/s40684-016-0035-1

Cited by 18 publications

(9 citation statements)

References 7 publications

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“…In 2015, Sun et al [21] studied the parameters of the geometric model and optimized the shape of an underwater glider body with wings. In 2016, Jeong [22] designed and investigated the control of an unmanned marine glider at high horizontal speed, and finally the engine with a horizontal speed of 2.5 knots was designed for this glider. In 2018, Chen et al [23], hydro-dynamically analyzed a submersible glider for the role of the glider wing in a nonuniform flow.…”

Section: A Bodymentioning

confidence: 99%

“…The most important goals of this step are to select the solution strategy, define the selection procedure and designing the algorithm for the solution strategy. The last step is the implementation, in which the implementation of the algorithm designed in the previous step includes setting the parameters, analyzing the performance, and finally compiling and reporting the results 0 [22].…”

Section: Meta-heuristic Optimizationmentioning

confidence: 99%

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Experimental analysis on hydrodynamic coefficients of an underwater glider with spherical nose for dynamic modeling and motion simulation

et al. 2021

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In this paper, we present a study of an underwater glider with a cylindrical body, a conical end shape and a spherical nose with NACA0009 airfoil wings. In the experimental section, we investigate the hydrodynamic coefficients of drag and lift as well as the torque on the glider then analyze the launch velocity, launch angles, angular velocity, and displacement range as the main parameters for evaluating of motion dynamics. In the numerical section, we investigate the optimal performance of the glider using the meta-heuristic optimization method in order to find the path and range of motion of the moving mass and control of the sea glider, which is very important for navigation scope. To be specific, body and wings hydrodynamic coefficients are obtained in the velocity range of [0.2, 1] $$m/s$$ m / s ; According to the results, the drag coefficient increases with increasing velocity, while the lift coefficient increases up to velocity of $$0.8 m/s$$ 0.8 m / s , then decreases at velocity of $$1 m/s$$ 1 m / s . Also, the wing drag coefficient decreases with increasing velocity, while the wing lift coefficient increases with increasing velocity. In the next step, in order to calculate an optimum ratio between obtained depth and horizontal distance, the designed algorithm investigate the glider launch angle and finally, the 10 degrees launch angle is chosen as the optimum angle. Subsequently, the analysis performed on mass center displacement range shows that the oscillation interval $$[- 0.045, 0.085]$$ [ - 0.045 , 0.085 ] $$m$$ m is an optimum displacement domain.

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Section: A Bodymentioning

confidence: 99%

Section: Meta-heuristic Optimizationmentioning

confidence: 99%

Experimental analysis on hydrodynamic coefficients of an underwater glider with spherical nose for dynamic modeling and motion simulation

et al. 2021

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“…Autonomous underwater gliders, one kind of AUV, have been developed and investigated for decades as devices that enable long-range underwater detection and reconnaissance [3]. An underwater glider (UG) is a new type of underwater monitoring platform [4]; it comprises a pair of fixed wings assembled on both sides of the fuselage, as well as a controllable rudder to realize the change in motion direction. A variable-volume buoyancy engine causes changes in its own buoyancy; when the buoyancy force is less than the gravity force, the engine sinks in the water, and when the gravity force is less than the buoyancy force, it floats in the water.…”

Section: Introductionmentioning

confidence: 99%

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

et al. 2021

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Net buoyancy, as the main power source for the motion of an underwater glider, is affected by the pump or bladder that the glider adopts to change its buoyancy force in water. In this study, a new underwater glider that can dive to a depth of 400 m at a cruising speed of 2 knots, which is faster than conventional underwater gliders and is less affected by sea currents, is investigated. The UG resisting 400 m pressure on the buoyancy engine and achieving 2 knots’ speed was designed and constructed. For this UG, its steady-state attitude was studied according to the variance of the buoyancy center and the center of gravity with the buoyancy engine influenced by the displacement of the movable mass block. In motion simulation of the UG, the attitude of the UG under different displacement conditions was simulated in Simulink according to the displacements of the piston and the movable mass block. To validate the simulation performance, a UG was constructed and experiments were conducted. The simulation and experimental results were compared to show the reliability of the simulation results under limited conditions.

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“…There is a wide variety of systems deputed at sea-monitoring, ranging from buoys, ships, the aforementioned AUVs, Remotely Operated Vehicles (ROVs) [13][14][15] and Underwater Sensor Networks (UWSNs) [16]. AUVs currently represent a well-proven technology [17][18][19][20][21][22][23]. These vehicles can record high-resolution images, videos, sonar and other data, and transmit them to a central unit or a backbone, without resurfacing, even in very shallow water or even in harbor environment.…”

Section: Introductionmentioning

confidence: 99%

Sea-Trial of Optical Ethernet Modems for Underwater Wireless Communications

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Sturniolo

Messa

et al. 2018

J. Lightwave Technol.

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A new pair of optical wireless modems has been realized, which exploit Visible Light Communication (VLC) to transmit Ethernet signals through water. The modem prototypes are finally tested in sea waters at La Spezia harbor; they successfully transmitted 10 Mbit/s 10Base-T signals over a up to 10 m, notwithstanding the high turbidity and the strong sunlight.Final tests included the integration with SUNRISE testbed and the use with a moving robot, remotely operated. Commercial components were used to realize the modems; thus, we expect that the key design concepts can be used as a starting point for practical deployment of this technology.

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Design and control of high speed unmanned underwater glider

Cited by 18 publications

References 7 publications

Experimental analysis on hydrodynamic coefficients of an underwater glider with spherical nose for dynamic modeling and motion simulation

Experimental analysis on hydrodynamic coefficients of an underwater glider with spherical nose for dynamic modeling and motion simulation

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Sea-Trial of Optical Ethernet Modems for Underwater Wireless Communications

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