Optimal Trajectory Planning and Control of Buoyancy Control Device Enabled by Water Electrolyzer

Zuo, Wenyu; Yi, Xiongfeng; Ghorbel, Fathi H.; Chen, Zheng

doi:10.1109/cdc40024.2019.9029633

Cited by 8 publications

(2 citation statements)

References 6 publications

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“…Once inflated, the BCD becomes tightly attached to the diver's upper body so that the air tanks, tubing, and regulators can be firmly fixed in an organized manner with minor interference with the body limbs. [ 20 ] During diving, all limbs must work together to achieve successful and smooth body movement with 6°‐of‐freedom, including descending/floating/ascending vertically, cruising forward/backward, and turning left/right horizontally, which are usually simple and standard for on‐land scenarios but become difficult underwater. Other challenging movements, such as moving while facing upside down, flipping with the back facing the ocean floor, or even helical movement that combines spinning about the body axis while moving forward, may become necessary during diving but impossible to achieve on land.…”

Section: The Reconfigurable Underwater Superlimbmentioning

confidence: 99%

Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance

Huo,

Wang,

Guo

et al. 2023

Advanced Intelligent Systems

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This study presents the design of an underwater superlimb as a wearable robot, providing divers with mobility assistance and freeing their hands for manipulating tools underwater. The wearable design features a thrust vectoring system with two 3D‐printed, waterproofed modules. The module with adjustable connections and strapping holes is designed to enable reconfiguration for multiple purposes, including regular use as an underwater superlimb for divers, manually operated as a handheld glider for swimmers, combined with an amphibian, legged robot as a quadruped superlimb, and coupled as a dual‐unit autonomous underwater vehicle for underwater navigation. The kinematics and dynamics of the prototype and all of its reconfigured modes are developed. A sliding‐mode controller is also introduced to achieve stable simulation in PyBullet. Field tests further support the feasibility of the underwater superlimb when worn on a test diver in a swimming pool. As the first underwater superlimb presented in the literature, this study opens new doors for supernumerary robotic limbs in underwater scenarios with multifunctional reconfiguration.

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Section: The Reconfigurable Underwater Superlimbmentioning

confidence: 99%

Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance

Huo,

Wang,

Guo

et al. 2023

Advanced Intelligent Systems

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“…For examples, the path planning and tracking control have been successfully proposed for airborne wind energy systems [10], [11], [12], [13], [14], [15], discrete manufacturing plants [16], autonomous vehicle [17], [18], unmanned aerial vehicle [19], [20], and autonomous underwater vehicle [21], [22]. In similar research, the trajectory planning and control have been solved for a buoyancy controlled device for an underwater vehicle to achieve its vertical maneuvering [23]. However, to be computationally tractable, the system model and tracking controller have been significantly simplified.…”

Section: Introductionmentioning

confidence: 99%

Integrated Path Planning and Tracking Control of Marine Current Turbine in Uncertain Ocean Environments

Hasankhani¹,

Ondes²,

Tang³

et al. 2021

Preprint

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This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement learning (RL) approach by fully exploring the historical ocean current profiles. The planner will search for a path to optimize a chosen cost criterion, such as maximizing the total harvested energy for a given time. Model predictive control (MPC) is then utilized to design the tracking control for the optimal path command from the planner subject to problem constraints. The planner and the tracking control are accommodated in an integrated framework to optimize these two parts in a real-time manner. The proposed approach is validated on a marine current turbine (MCT) that executes vertical waypoint path searching to maximize the net power due to spatiotemporal uncertainties in the ocean environment, as well as the path following via an MPC tracking controller to navigate the MCT to the optimal path. Results demonstrate that the path planning increases harnessed power compared to the baseline (i.e., maintaining MCT at an equilibrium depth), and the tracking controller can successfully follow the reference path under different shear profiles.

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Underwater Buoyancy and Depth Control Using Reversible PEM Fuel Cells

Keow

Zuo

Ghorbel

et al. 2020

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Optimal Trajectory Planning and Control of Buoyancy Control Device Enabled by Water Electrolyzer

Cited by 8 publications

References 6 publications

Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance

Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance

Integrated Path Planning and Tracking Control of Marine Current Turbine in Uncertain Ocean Environments

Underwater Buoyancy and Depth Control Using Reversible PEM Fuel Cells

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