Modelling and motion simulation of an underwater glider with independently controllable main wings

Arima, Masakazu; Ichihashi, N.; Miwa, Yasunari

doi:10.1109/oceanse.2009.5278267

Cited by 42 publications

(13 citation statements)

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“…The hydrodynamic characteristic of a submarine launched underwater gliders was presented in Rodgers and Wharington (2010), and the glider shape was optimized to obtain a higher lift to drag ratio over a large range of attack angle. The effect of using actuated wings on a glider to enhance maneuverability were verified by experiments in a tank in Arima et al (2008Arima et al ( , 2009. This paper establishes a thorough approach characterizing the spiraling motion of underwater gliders: including the use of modeling, analysis, and experiments.…”

Section: Introductionmentioning

confidence: 88%

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Zhang

et al. 2013

Ocean Engineering

184

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Section: Introductionmentioning

confidence: 88%

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Zhang

et al. 2013

Ocean Engineering

184

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“…The network includes mobile robots with a maximum speed of 1.5 meters per second. Arima et al introduced an underwater glider simulation model [25]. Speed is assumed to be between 0.1 and 0.5 meter per second.…”

Section: Related Workmentioning

confidence: 99%

Simulation of underwater communications with a colored noise approximation and mobility

Barbeau

Blouin

Cervera

et al. 2015

2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE)

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Abstract-We study the software simulation of underwater physical communications, namely, underwater acoustic waves and (de)modulation of underwater acoustic digital data signals. We take into account the mobility of nodes, such as in underwater sensor networks. We also consider the integration with protocol layers above the physical layer, i.e., the link and network layers. In this context, mobility is relevant because there are underwater vehicles and environmental conditions causing displacements of sensors. Attenuation is sensitive to transmitter-receiver separation distances. Because of mobility, distances change. Our solution is based on the work of Borrowski (2010). The physical layer is modeled as Matlab functions. As a function of distance and frequency, our physical layer model takes into account attenuation and noise and their effects on a phase-shift keyed signal. We use OMNeT++ to model link and network layer protocols. The Matlab functions and OMNet++ models are linked together. While Matlab does particularly well with signal processing, OMNeT++ addresses better the protocols placed in the link layer and above.

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Section: Introductionmentioning

confidence: 99%

“…In [16], the hydrodynamic coefficients of autonomous underwater vehicles are verified using the computational fluid dynamics method and experiments. The effect of independently controllable wings on a glider is studied to enhance the glider maneuverability in [17].The underwater glider developed by the Shenyang Institute of Automation (SIA) in [18] is propelled by a pump and steered by a movable-rotatable battery. The heave is controlled by the pump that changes the volume of a bladder.…”

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confidence: 99%

Steady three dimensional gliding motion of an underwater glider

Zhang

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions. , and the straight line gliding motion in the vertical plane are stabilized by feedback control. The complex dynamic model and the coupled hydrodynamic effects make it difficult to find accurate solutions for the glider model that establishes relationships between the gliding state and the control input. The problem remains unsolved for three dimensional gliding motion such as the spiraling motion. In [9], a first attempt is made to find numerical solutions for the steady state equations that characterize the spiraling motion. In [12] and [13], an approximate analytical solution for steady spiraling motion is derived by applying perturbation theory. I. INTRODUCTIONThe dynamic performance of an underwater glider is strongly affected by hydrodynamics. In [14], a thorough analysis about the hydrodynamic coefficients of a glider is performed. In [15], the drag and lift forces caused by wings of a fin-actuated underwater vehicle are studied. In [16], the hydrodynamic coefficients of autonomous underwater vehicles are verified using the computational fluid dynamics method and experiments. The effect of independently controllable wings on a glider is studied to enhance the glider maneuverability in [17].The underwater glider developed by the Shenyang Institute of Automation (SIA) in [18] is propelled by a pump and steered by a movable-rotatable battery. The heave is controlled by the pump that changes the volume of a bladder.

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Modelling and motion simulation of an underwater glider with independently controllable main wings

Cited by 42 publications

References 2 publications

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Simulation of underwater communications with a colored noise approximation and mobility

Steady three dimensional gliding motion of an underwater glider

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