Redundant and reconfigurable propulsion systems to improve motion capability of underwater vehicles

Pugi, Luca; Allotta, Benedetto; Pagliai, Marco

doi:10.1016/j.oceaneng.2017.11.039

Cited by 41 publications

(16 citation statements)

References 4 publications

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“…Therefore, F = (PWM/50) − 1 is the linear equation obtained by the adjustment of the curve. On the other hand, in recent works, such as in [ 19 ], it is important to consider a greater knowledge of the dynamic of all the thrusters to obtain the best performance and efficiency with respect to the maneuvers of the vehicle in control applications. In this case, the Micro AUV has the layout configuration of the thrusters near the center of gravity to obtain better maneuverability.…”

Section: Simulation and Resultsmentioning

confidence: 99%

Modeling and Control of a Micro AUV: Objects Follower Approach

Monroy-Anieva

Rouviere

Campos‐Mercado

et al. 2018

Sensors

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This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

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Section: Simulation and Resultsmentioning

confidence: 99%

Modeling and Control of a Micro AUV: Objects Follower Approach

Monroy-Anieva

Rouviere

Campos‐Mercado

et al. 2018

Sensors

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“…In [58] (2013, see Figure 10), similarly to [53] (2009), a pumped-water-jet-based RT is presented, using three actuators to assure more 2-DOF of reconfiguration to the thrust. In the same year, two propositions were published showing the application of RTs in two different propulsion architectures (see Figure 11): the Smart-E AUV [59] and the so called Italian sea-stick [60] apud [61]. In these publications, RTs are called pivoted thrusters.…”

Section: Advances In Reconfigurable Vectorial Thrustersmentioning

confidence: 99%

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Gasparoto

Chocron

Benbouzid

et al. 2021

JMSE

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Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more manoeuvrability. The present review explores various enabling technologies used to implement the vectorial thrusters (VT), based on water-jet or propellers. The proposals are analysed in terms of added degrees of freedom, mechanisms, number of necessary actuators, water-tightness, electromagnetomechanical complexity, feasibility, etc. The usage of magnetic coupling thrusters (conventional or reconfigurable) is analysed in details since they can assure the development of competitive full waterproof reconfigurable thrusters, which is a frictionless, flexible, safe, and low-maintenance solution. The current limitations (as for instance the use of non conductive hull) are discussed and ideas are proposed for the improvement of this new generation of underwater thrusters, as extending the magnetic coupling usage to obtain a fully contactless vector thrust transmission.

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“…Few small underwater robots have been designed using dynamically configurable sets of thrusters. Moreover, the reported works (such as [Pugi, Allotta, and Pagliai (2018)]) focus on control design while thrust optimization is studied through heuristics. A noticeable exception is the work reported in [Vega (2017)] considering an Autonomous Underwater Vehicle (AUV) fitted with on-line steerable propellers.…”

Section: Context and State Of The Artmentioning

confidence: 99%

Optimal thrusters steering for dynamically reconfigurable underwater vehicles

Blond

Simon

Creuze

et al. 2019

International Journal of Systems Science

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When using a Remotely Operated Vehicle (ROV), on-the-fly reconfiguration of the thrusters orientations allows to adjust its propulsion and maneuverability capabilities according to the mission progress. To optimize the actuation, the interaction between thrusters due to cross flows is modeled and included in the thrust related objective function to be maximized. Runtime effective solutions use a sparse look-up table to initialize a fast direct-search local optimization algorithm. The found thrusters steering configurations show higher thrust gains compared with the traditional fixed 'vectored' configuration of currently available ROVs.

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Redundant and reconfigurable propulsion systems to improve motion capability of underwater vehicles

Cited by 41 publications

References 4 publications

Modeling and Control of a Micro AUV: Objects Follower Approach

Modeling and Control of a Micro AUV: Objects Follower Approach

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Optimal thrusters steering for dynamically reconfigurable underwater vehicles

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