REMUS: a small, low cost AUV; system description, field trials and performance results

Allen, B.; Stokey, R.; Austin, Thomas; Forrester, N.; Goldsborough, R.; Purcell, Michael; Alt, C. von

doi:10.1109/oceans.1997.624126

Cited by 138 publications

(66 citation statements)

References 7 publications

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“…Propeller-driven systems appear to be more economical than most swimming fish. The COT of a typical propeller-driven AUV is approximately 0.4·J·kg -1 ·m -1 (Allen et al, 1997). Fish and robots powered by flapping fins appear to fall at the upper end of the COT range exhibited by swimmers.…”

Section: Discussionmentioning

confidence: 99%

Efficiency of labriform swimming in the bluegill sunfish (Lepomis macrochirus)

Jones

Lucey

Ellerby

2007

Journal of Experimental Biology

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-1 ·body·mass). Efficiency estimates based on these data fell into the following ranges: overall swimming efficiency ( gross = P mech /P total ), 0.16-0.22; muscle efficiency ( muscle =P mech / P muscle ), 0.26-0.37; and propeller efficiency ( prop = P drag /P mech ), 0.15-0.20. Comparison with other studies suggests that labriform swimming may be more efficient than swimming powered by undulations of the body axis.

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Section: Discussionmentioning

confidence: 99%

Efficiency of labriform swimming in the bluegill sunfish (Lepomis macrochirus)

Jones

Lucey

Ellerby

2007

Journal of Experimental Biology

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“…Ideal fluid forces and moments can be expressed by the equations: 2,3,4,5,6 and jkl=I,2,3 ( 4.12) and where the alternating tensor Ejkl is equal to +1 if the indices are in cyclic order (123, 231, …”

Section: Added Massmentioning

confidence: 99%

Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle

Prestero¹

2001

470

349

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Improving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an effcient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge.Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coeffcients. This thesis describes the derivation of these coeffcients in detaiL. The equations determining the coeffcients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form. to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of. motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle.

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“…There has been a substantial amount of research on the topic of low-level control systems for UUVs since the 1980's. This has included work based on: proportional-integral-derivative (PID) control [7,8,9], sliding mode control [10,11] and model predictive control [12,13,14,15,16]. This paper gives new results on the design and experimental evaluation of model predictive control laws for a hover capable hybrid AUV.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control of a hybrid autonomous underwater vehicle with experimental verification

Steenson

Turnock

Phillips

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part M:

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In this work model predictive control is used to provide transit and hover capabilities for an autonomous underwater vehicle where the description of the system dynamics used include terms measured experimentally. The resulting controller manoeuvres the vehicle in the presence of constraints on the actuators and results obtained from the deployment of the vehicle in an inland lake for the study of the Zebra mussel, an invasive species, are also given.

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REMUS: a small, low cost AUV; system description, field trials and performance results

Cited by 138 publications

References 7 publications

Efficiency of labriform swimming in the bluegill sunfish (Lepomis macrochirus)

Efficiency of labriform swimming in the bluegill sunfish (Lepomis macrochirus)

Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle

Model predictive control of a hybrid autonomous underwater vehicle with experimental verification

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