A Low-Cost Unmanned Underwater Vehicle Prototype for Shallow Water Tasks

Wang, W.H.; Chen, Xiaoqi; Marburg, Aaron; Chase, J. Geoffrey; Hann, C.E.

doi:10.1109/mesa.2008.4735649

Cited by 22 publications

(7 citation statements)

References 9 publications

(1 reference statement)

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“…The first three concepts are classified as static diving systems, while the latter concept is a dynamic diving system (Wang, Chen, Marburg, Chase, & Hann, 2008).…”

Section: Buoyancy and Depth Controlmentioning

confidence: 99%

Loon Copter: Implementation of a hybrid unmanned aquatic–aerial quadcopter with active buoyancy control

Alzu’bi

Mansour

Rawashdeh

2018

Journal of Field Robotics

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Aquatic-aerial unmanned vehicles recently became the focus of many researchers due to their various possible applications. Achieving a fully operational vehicle that is capable of aerial, water-surface and underwater operations is a significant challenge considering the vehicle's air-water-air transition, propulsion system and stability underwater. We present in this paper an unconventional unmanned hybrid aquatic-aerial quadcopter with active buoyancy control that is capable of aerial flight and water-surface operation, as well as subaquatic diving. We report on the first successful prototype of the vehicle, named the Loon Copter, to provide initial evaluation results of its performance in both mediums. The Loon Copter uses a single set of motors and propellers for both air and underwater maneuvering. It utilizes a ballast system to control vehicle buoyancy and depth underwater, as well as to perform seamless air-to-water and water-to-air transitions. A closed loop control algorithm is utilized for the vehicle's aerial and water-surface stability and maneuver while an open loop control algorithm is used for underwater maneuver. The experimental results show a fully operational prototype with six degrees of freedom underwater, stable flight, operation capabilities on water surface, and agile maneuvering underwater.

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“…The first three concepts are classified as static diving systems, while the latter concept is a dynamic diving system (Wang, Chen, Marburg, Chase, & Hann, 2008).…”

Section: Buoyancy and Depth Controlmentioning

confidence: 99%

Loon Copter: Implementation of a hybrid unmanned aquatic–aerial quadcopter with active buoyancy control

Alzu’bi

Mansour

Rawashdeh

2018

Journal of Field Robotics

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“…These connectors are available in the international market with various pressure ratings. During the design of a UUV, a User Requirement Document (URD) dictates the operational depth of the vehicle, which, in turn, allows the designer to choose connectors with appropriate ratings [27].…”

Section: Introductionmentioning

confidence: 99%

A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

Bashir,

Khan,

Iqbal

et al. 2023

Sustainability

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Unmanned underwater vehicles (UUVs) have become increasingly popular in recent years due to their use in various applications. The motivations for using UUVs include the exploration of difficult and dangerous underwater environments, military tasks in mine detection, intelligence gathering and surveillance, the inspection of offshore oil and gas infrastructure in the oil and gas industry, scientific research for studying marine life, and the search and rescue of missing persons or submerged airplanes or boats in underwater environments. UUVs offer many advantages in achieving the desired applications with increased safety, efficiency, and cost-effectiveness. However, there are also several challenges associated with their communication, navigation, power requirements, maintenance, and payload limitations. These types of vehicles are also prone to various disturbances caused by currents of the ocean, propulsion systems, and unmolded uncertainties. Practically, it is a challenging task to design a controller that will ensure optimal performance under these conditions. Therefore, the control system design is of prime importance in the overall development of UUVs. Also, the UUV controller receives input from different sensors, and the data from these sensors are used by the controller to perform different tasks. The control systems of UUVs should take into account all uncertainties and make them stable so that all sensors can perform optimally. This paper presents a complete review of different control system design algorithms for UUVs. The basic logic designs of several control system algorithms are also presented. A comparison is made based on reliability, robustness, precession, and the ability of the controller to handle the nonlinearity that is faced by UUVs during their missions. Simulation and experimental results are thoroughly studied to gain insight into each algorithm. The advantages and disadvantages of each algorithm are also presented, which will facilitate the selection of a suitable algorithm for the control system design of UUVs.

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“…Conte, De Capua et al (2016) gave the design method of Navigation, Guidance and Control system of the ASV. Several studies were also conducted to module ASV/ROV system and applied them in a range of fields (Conte et al, 2020;Conte et al, 2016;Jung et al, 2018;Sarda and Dhanak, 2016;Wang et al, 2008).…”

Section: Introductionmentioning

confidence: 99%