Wind-up AUVs: Combined energy storage and attitude control using control moment gyros

Thornton, Blair; Ura, Tamaki; Nose, Yukio

doi:10.1109/oceans.2007.4449149

Cited by 9 publications

(10 citation statements)

References 4 publications

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“…However, despite the interest for space applications, this type of system has not previously been considered for application onboard underwater robots. This paper continues the research in [6] and performs underwater experiments that demonstrate combined energy supply and simultaneous three-axis attitude control of a CMG actuated AUV, in which the CMG flywheels provided the entire electrical load of the robot subsystems including the power required to steer the CMG gimbals to generate torque. …”

Section: Introductionmentioning

confidence: 75%

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Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

2008

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This research develops a system to combine energy storage and attitude control functions in control moment gyros (CMGs) for application onboard autonomous underwater vehicles (AUVs). This is proposed as part of a hybrid energy storage system to allow AUVs to perform their missions with no chemical battery at all. A geometric study of the interactions between the kinetic energy and angular momentum stored in a CMG pyramid is performed. This forms the basis of a control algorithm that allows the energy mechanically stored in the rotation of the CMG flywheels to power the electronics of the robot, whilst simultaneously controlling its three-axis attitude. The proposed system is implemented onboard the CMG actuated AUV 'IKURA' and underwater experiments are performed to demonstrate combined energy storage and three-axis attitude control.

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Section: Introductionmentioning

confidence: 75%

“…Applying this condition to the rotational dynamics of the robot, derived in [6] and included here for completness,…”

Section: A Attitude Controlmentioning

confidence: 99%

Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

2008

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“…Satellites are quite different than human robots, especially since they operate in the absence of dissipative forces like friction. The IKURA autonomous underwater vehicle used control moment gyroscopes for attitude modification [13] in the presence of viscous dissipative forces; again this is a very different situation from a humanoid robot.…”

Section: Discussionmentioning

confidence: 99%

Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots

Boddiford

Manion

Kim

et al. 2013

Volume 6B: 37th Mechanisms and Robotics Conference

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Turning a robot, particularly an under-actuated bipedal humanoid robot, is challenging. Several methods proposed in the literature for producing human-like motion in such robots are innovative but are limited in their range of motion. This paper presents an approach to control the orientation of a robot using a control moment gyroscope (CMG). A demonstration platform is developed to test this concept and physical experiments are conducted to determine the prototype's turning range and performance. This concept is then extended to a backpack mount where trials are conducted using human subjects to estimate the performance of the system that can potentially be used to turn bipedal humanoid robots.

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“…Autonomous vehicle angular momentum control of rotational mechanics may be achieved using control moment gyroscopes, one potential momentum exchange actuator with a long, historic legacy of actuating space vehicles, where mathematical singularities have just recently been overcome [17][18][19][20][21][22][23], permitting the use of the actuator for underwater vehicles as recently achieved by Thorton et al [24,25], including combined attitude and energy storage control. These developments suffice to reveal that attitude control is not controversial and, thus, the remainder of this manuscript focuses on guidance and navigation with a residual necessity to implement nominal, effective pitch and yaw control.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Minimum Safe Distance Maintenance from Submersed Obstacles in Ocean Currents

Sands

Bollino

Kaminer

et al. 2018

JMSE

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Featured Application: Submersed obstacle avoidance in unknown ocean currents via guidance, navigation, and control for autonomous underwater vehicles.Abstract: A considerable volume of research has recently blossomed in the literature on autonomous underwater vehicles accepting recent developments in mathematical modeling and system identification; pitch control; information filtering and active sensing, including inductive sensors of ELF emissions and also optical sensor arrays for position, velocity, and orientation detection; grid navigation algorithms; and dynamic obstacle avoidance, amongst others. In light of these modern developments, this article develops and compares integrative guidance, navigation, and control methodologies for the Naval Postgraduate School's Phoenix submerged autonomous vehicle, where these methods are assumed available. The measure of merit reveals how well each of several proposed methodologies cope with known and unknown disturbances, such as currents that can be constant or harmonic, while maintaining a safe passage distance from underwater obstacles, in this case submerged mines. Classical pole-placement designs establish nominal baseline behaviors and are subsequently compared to performance of designs that are optimized to satisfy linear quadratic cost functions in regulators as well as linear-quadratic Gaussian designs. Feed-forward architectures and integral control designs are also evaluated. A noteworthy contribution is a very simple method to mimic optimal results with a "rule of thumb" criteria based on the design's time constant. Since the rule-of-thumb method uses the assumed system model for computation of the control, it is particularly generic. Cited references each contain methods for online system parameter identification (with a motivation of use in the finding the control signal), permitting the rule of thumb's generic applicability, since it is expressed in terms of the system parameters. This proposed method permits control design at sea where significant computation abilities are not available. Very simple waypoint guidance is also introduced to guide a vehicle along a preplanned path through a field of obstacles placed at random locations. The linear-quadratic Gaussian design proves best when augmented with integral control, and works well with reduced-order equations, while the "rule of thumb" design is seen to closely mimic the optimal performance. Feed-forward augmentation proves particularly efficient at rejecting constant disturbances, while augmentation with integral control is necessary to counter periodic disturbances, where the augmentations are also optimized in the linear-quadratic Gaussian procedures, yet can be closely mimicked by the proposed "rule of thumb" technique.

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Wind-up AUVs: Combined energy storage and attitude control using control moment gyros

Cited by 9 publications

References 4 publications

Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

Combined energy storage and three-axis attitude control of a gyroscopically actuated AUV

Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots

Autonomous Minimum Safe Distance Maintenance from Submersed Obstacles in Ocean Currents

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