In this paper, we develop a virtual platform of a manned submersible vehicle carrying an underwater manipulator to animate operation tasks under the deep sea. The models of the vehicle and the manipulator refer to the structures of the "Jiaolong" deep manned submersible vehicle and a master-slave servo hydraulic manipulator, respectively. The master-slave manipulator with 7 functions developed by Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, is able to perform operation tasks below the ocean's surface 7000 meters. The platform is a powerful multipurpose tool: First, it can be used for training an operator to telepresence operate the virtual manipulator to complete basic tasks under the deep sea by coordinating a cradle head, the manned submersible vehicle and the underwater manipulator; Second, it can be used to test or to validate motion control methods for operating the submersible and manipulator. In order to demonstrate the feasibility and effectiveness of the virtual platform, we present two typical underwater operation tasks: picking-up a rock sample and making a mark.
A hybrid-driven underwater glider is a new class of autonomous underwater gilder which combines the concept of a conventional autonomous underwater vehicle (AUV) and a conventional autonomous underwater glider (AUG). This kind of vehicle can operate in three different modes, such as propellerdriven mode, buoyancy-driven mode, as well as hybrid-driven mode. In order to find the characteristics of AUV mode of the HDUG. This paper use Lagrange method build a 3D hydrodynamic model for the hybrid-driven underwater glider. And we analyze the motion characteristics of the HDUG in vertical plane. The target output is the pitch angle, horizontal velocity, trajectory and angle of attack. Simulation results show that in AUV mode, the HDUG will experience much lower resistance and obtain higher velocity in zero angle of attack and neutral buoyancy case. This results give us advice that if we want the HDUG can reach farther distance we should decrease the angle of attack.
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