Design, fabrication, and characterization of a multimodal hybrid aerial underwater vehicle

Lu, Di; Xiong, Chengke; Zhou, Hexiong; Lyu, Chenxin; Hu, Rui; Yu, Caoyang; Zeng, Zheng; Lian, Lian

doi:10.1016/j.oceaneng.2020.108324

Cited by 61 publications

(34 citation statements)

References 17 publications

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“…The first step of the methodology is to specify the platform's mission requirements, for both the aerial and the underwater environment. An extensive investigation of the available literature [3][4][5][6][7][8] was carried out to set realistic initial requirements for the mission of the UAUV. The top performance characteristics of these prototypes were set as mission requirements for the platform under study (table 1).…”

Section: Mission Profile and Requirementsmentioning

confidence: 99%

“…A key component was the floodable wing, which enabled the rapid egress of the vehicle during a vertical takeoff maneuver. Lu et al [8] designed and built a prototype UAUV which merges the design concepts of the fixed wing, the multirotor and the buoyancy system of underwater gliders, in order to provide a solution to the poor endurance capabilities of the existing UAUVs. Their second prototype (NEZHA IIIfigure 1c) demonstrated an outstanding capability of a 50-meter-depth dive.…”

Section: Introductionmentioning

confidence: 99%

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Conceptual design of a fixed wing hybrid UAV UUV platform

Papadopoulos

Vlachos

Yakinthos

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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In this work, the conceptual design methodology of a hybrid Unmanned Aerial Vehicle (UAV) – Unmanned Underwater Vehicle (UUV) platform is presented. As the mission complexity and the need for interoperability between different platforms grows more demanding by the day, hybrid platforms are becoming an essential solution. Hybrid UAV-UUVs can operate seamlessly and repeatedly in both the aerial and underwater environments, something that numerous animal species already execute in an optimized way. The design methodology starts with the review of the few available prototypes, creating initial design trends and continues with analytical calculations. These calculations are based on aircraft design textbooks and are modified to take into account the special characteristics of a hybrid platform, such as the means of transition between the water and the air. A Blended Wing Body (BWB) layout configuration is selected for the numerous aerodynamic advantages that it offers. The analytical calculations are then validated with the use of high fidelity CFD calculations. The results from the conceptual design phase indicate that the proposed methodology for hybrid UAV-UUV configurations provides a good design accuracy. Finally, the outcome of this methodology, which is a hybrid UAV-UUV platform is potentially the answer to the operational gap for missions that include both underwater and aerial environments.

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Section: Mission Profile and Requirementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Conceptual design of a fixed wing hybrid UAV UUV platform

Papadopoulos

Vlachos

Yakinthos

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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“…The HAUV discussed in our work is an integration of fixed-wing UAVs, rotary-wing UAVs, and UGs [8]. Details are illustrated in Figure 2.…”

Section: Motion and Structural Parameters Of The Hauvmentioning

confidence: 99%

“…These HAUVs showed controllable and smooth operation; nevertheless, they are limited by their UAV-based structures. Our previous work was inspired by gliders, which have proven to be the most efficient UUVs [8]. Our HAUV was a combination of underwater gliders (UGs) and UAVs.…”

Section: Introductionmentioning

confidence: 99%

Multi-Domain Informative Coverage Path Planning for a Hybrid Aerial Underwater Vehicle in Dynamic Environments

2021

Self Cite

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Hybrid aerial underwater vehicles (HAUV) are a new frontier for vehicles. They can operate both underwater and aerially, providing enormous potential for a wide range of scientific explorations. Informative path planning is essential to vehicle autonomy. However, covering an entire mission region is a challenge to HAUVs because of the possibility of a multidomain environment. This paper presents an informative trajectory planning framework for planning paths and generating trajectories for HAUVs performing multidomain missions in dynamic environments. We introduce the novel heuristic generalized extensive neighborhood search GLNS–k-means algorithm that uses k-means to cluster information into several sets; then through the heuristic GLNS algorithm, it searches the best path for visiting these points, subject to various constraints regarding path budgets and the motion capabilities of the HAUV. With this approach, the HAUV is capable of sampling and focusing on regions of interest. Our method provides a significantly more optimal trajectory (enabling collection of more information) than ant colony optimization (ACO) solutions. Moreover, we introduce an efficient online replanning scheme to adapt the trajectory according to the dynamic obstacles during the mission. The proposed replanning scheme based on KD tree enables significantly shorter computational times than the scapegoat tree methods.

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“…To date, the vast majority of existing studies have focused on the design aspect, i.e. achieving locomotion in both mediums and transitioning between the two [7]- [11]. Far less work has flown into the control and autonomy side, with most prototypes remaining at an early demonstration stage.…”

Section: Introductionmentioning

confidence: 99%

Challenges in Control and Autonomy of Unmanned Aerial-Aquatic Vehicles

Farinha

Tria

Zufferey

et al. 2021

2021 29th Mediterranean Conference on Control and Automation (MED)

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Autonomous aquatic vehicles capable of flight can deploy more rapidly, access remote or constricted areas, overfly obstacles and transition easily between distinct bodies of water. This new class of vehicles can be referred as Unmanned Aerial-Aquatic Vehicles (UAAVs), and is capable of reaching distant locations rapidly, conducting measurements and returning to base. This greatly improves upon current solutions, which often involve integrating different types of vehicles (e.g. vessels releasing underwater vehicles), or rely on manpower (e.g. sensors dropped manually from ships). Thanks to recent research efforts, UAAVs are becoming more sophisticated and robust. Nonetheless numerous challenges remain to be addressed, and particularly dedicated control and sensing solutions are still scarce. This paper discusses challenges and opportunities in UAAV control, sensing and actuation. Following a brief overview of the state of the art, we elaborate on the requirements and challenges for the main types of robots and missions proposed in the literature to date, and highlight existing solutions where available. The concise but wide-ranging overview provided will constitute a useful starting point for researchers undertaking UAAV control work.

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Design, fabrication, and characterization of a multimodal hybrid aerial underwater vehicle

Cited by 61 publications

References 17 publications

Conceptual design of a fixed wing hybrid UAV UUV platform

Conceptual design of a fixed wing hybrid UAV UUV platform

Multi-Domain Informative Coverage Path Planning for a Hybrid Aerial Underwater Vehicle in Dynamic Environments

Challenges in Control and Autonomy of Unmanned Aerial-Aquatic Vehicles

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