Development of ARRTOO: A Long-Endurance, Hybrid-Powered, Oceanographic Research Vessel

Miller, P. H.; Sauze, Colin; Neal, Mark

doi:10.1007/978-3-319-02276-5_5

Cited by 9 publications

(8 citation statements)

References 3 publications

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“…Identically, the lateral or heel force applied to the vehicle's y axis is expressed by Equation (7), where θ represents the apparent wind angle.…”

Section: Wing Sail Designmentioning

confidence: 99%

“…In order to have truly autonomous systems, they must present not only control autonomy but also energy autonomy. A possibility for granting energy autonomy to land and marine vehicles is to make use of wind to propel the vehicle [4] and, eventually, to power its on-board systems [5][6][7]. To propel these vehicles, traditional fabric sails (the most common approach), rigid wing sails, and mechanical devices, such as Flettner rotors or vertical and horizontal axis turbines, or even more uncommon options, such as different sail concepts or towing kites [8], can be adopted.…”

Section: Introductionmentioning

confidence: 99%

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Design, Modeling, and Simulation of a Wing Sail Land Yacht

2021

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Autonomous land yachts can play a major role in the context of environmental monitoring, namely, in open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses the design, modeling, and simulation of a land yacht probe equipped with a rigid free-rotating wing sail and tail flap. The wing was designed with a symmetrical airfoil and dimensions to provide the necessary thrust to displace the vehicle. Specifically, it proposes a novel design and simulation method for free rotating wing sail autonomous land yachts. The simulation relies on the Gazebo simulator together with the Robotic Operating System (ROS) middleware. It uses a modified Gazebo aerodynamics plugin to generate the lift and drag forces and the yawing moment, two newly created plugins, one to act as a wind sensor and the other to set the wing flap angular position, and the 3D model of the land yacht created with Fusion 360. The wing sail aligns automatically to the wind direction and can be set to any given angle of attack, stabilizing after a few seconds. Finally, the obtained polar diagram characterizes the expected sailing performance of the land yacht. The described method can be adopted to evaluate different wing sail configurations, as well as control techniques, for autonomous land yachts.

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“…Identically, the lateral or heel force applied to the vehicle's y axis is expressed by Equation (7), where θ represents the apparent wind angle.…”

Section: Wing Sail Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Simulation of a Wing Sail Land Yacht

2021

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“…Anthierens et al (2013) also planned to use a dedicated vertical Savonius wind generator with helicoidal blades in the Marius autonomous sailboat. Miller et al (2013) propose three power generation options for the ARRTOO hybrid (sail and electric motor) autonomous boat, namely photovoltaic solar panels, two Forgen 1000NT vertical axis 45 W wind turbines and the option to use the boat diesel engine to recharge the LiFePO4 battery (Miller et al, 2013).…”

Section: Power Systemmentioning

confidence: 99%

Rigid wing sailboats: A state of the art survey

Silva

Friebe²,

Malheiro

et al. 2019

Ocean Engineering

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“…In [6], the authors described a sailboat design intended for short missions; therefore, the design did not have to withstand harsh conditions for long periods of time. In [7], the authors described the design, development, construction and demonstration of a small, robotic research vessel propelled by both wind and motor. The two-meter vessel was capable of speeds of up to five knots under sail and six knots using an electric motor without the need for human interaction.…”

Section: Introductionmentioning

confidence: 99%

An Engineering Design Approach for the Development of an Autonomous Sailboat to Cross the Atlantic Ocean

et al. 2021

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Over the past decade, interest in autonomous vessels significantly increased as the technology improved, especially in the automotive industry. Unlike cars, ships travel in a wild environment and maritime lanes are not limited by white lines. This makes the design of fully autonomous vessels even more challenging. Additionally, the need to reduce greenhouse gas emissions led to a renewed interest in wind propulsion. Sailboats have several advantages, such as full energy autonomy and a limited environmental impact. The Microtransat Challenge, which consists of crossing the Atlantic Ocean, is a tremendous test field. This paper describes, within that frame, a design procedure for the development of a robust fully autonomous sailboat to be deployed for long-term missions. In this paper, the mechanical and electronic design strategies are presented. A focus is on reliability and power management. Moreover, a test procedure for validating each design increment is described as well as a path plan that considers the risk of collision and weather routing with wind and currents. The Microtransat remains a challenge that no autonomous ship has ever succeeded (and has been completed by a single unmanned vessel, SB Met in 2018). However, the results by Breizh Tigresse and Sealeon in 2015 and 2018 made a step forward in terms of time and distance. They are presented and analyzed in this work.

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Development of ARRTOO: A Long-Endurance, Hybrid-Powered, Oceanographic Research Vessel

Cited by 9 publications

References 3 publications

Design, Modeling, and Simulation of a Wing Sail Land Yacht

Design, Modeling, and Simulation of a Wing Sail Land Yacht

Rigid wing sailboats: A state of the art survey

An Engineering Design Approach for the Development of an Autonomous Sailboat to Cross the Atlantic Ocean

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