An accurate cavitation prediction thruster model based on Gaussian process regression

Tao, Jianguo; Li, Zhan-Dong; Ding, Liang; Deng, Zongquan; Sun, Hao; Song, Xingguo

doi:10.1109/robio.2017.8324478

Cited by 2 publications

(2 citation statements)

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“…Luo et al used Gaussian process regression, which considers the cavitation effect, to create a thruster model. They have been verified the effectiveness of this model they created with proof-of-concept experiments, and the results of these experiments showed that the proposed model had fewer errors than the traditional model [3]. Gungor has been modeled the flow noise produced by an underwater vehicle in digital environment using LES (Large Edge Simulation).…”

Section: Introductionmentioning

confidence: 99%

Prototyping of a Novel Thruster for Underwater ROVs

Atali¹

2022

International Journal of Applied Mathematics Electronics and Computers

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Underwater vehicles are expected to have flexible maneuverability to perform various tasks such as security, reconnaissance, and search rescue. This maneuverability depends on the thruster to perform the specified tasks effectively. The designs of the propeller and the duct in the thrusters have a significant effect on the vehicle's mobility as it directly affects the thrust force. An ergonomic design is aimed by choosing the optimum level in terms of efficiency for the number of propeller blades. In addition, a duct design is needed to prevent water escape due to propeller movement. In this study, an original thruster has been designed by making theoretical calculations. The designed thruster has been analyzed using the Finite Element Analysis (FEA) method. The thrust, friction, torque, and efficiency values of the developed thruster have been calculated using momentum theory and supported by fluid mechanics analysis. In line with the analyses, the prototype of the designed thruster has been manufactured and the necessary performance tests were carried out on an autonomous underwater vehicle named Fersah-ROV, which was also originally designed and manufactured.

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Section: Introductionmentioning

confidence: 99%

Prototyping of a Novel Thruster for Underwater ROVs

Atali¹

2022

International Journal of Applied Mathematics Electronics and Computers

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“…[1][2][3][4][5] Particularly, HITUWV (Underwater Welding Vehicle by Harbin Institute of Technology) is a UV which can complete automatic welding in spent fuel pools (SFPs). [6][7][8][9] Due to the centroid variations caused by the movements of the welding system on board, it is of great significance to develop a compensation controller for the HITUWV to complete automatic underwater welding with high accuracy and stability.…”

Section: Introductionmentioning

confidence: 99%

Centroid variability model–based control of HITUWV for automatic underwater welding with enhanced stability and accuracy

Tao

Zhou

Sun

et al. 2019

Advances in Mechanical Engineering

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This article presents a centroid variability model–based controller of HITUWV (Underwater Welding Vehicle by Harbin Institute of Technology), an underwater welding vehicle, for automatic welding with high stability and accuracy. First, an accurate centroid variability model, which considers the coefficient changes of the HITUWV caused by the movements of a 3-degree-of-freedom manipulator, is presented to perform the dynamic characteristics of the HITUWV precisely. Second, a centroid variability model–based adaptive sliding model controller is developed for the HITUWV to complete centroid variability compensation. Experimental results indicate that the proposed centroid variability model–based adaptive sliding model controller demonstrates better performances in stability and accuracy than the conventional proportional–integral–derivative controller and the model-based proportional–integral–derivative controller. As a result, the centroid variability model–based adaptive sliding model controller holds great practicality and utility on the control of underwater operation with high stability and accuracy.

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An accurate cavitation prediction thruster model based on Gaussian process regression

Cited by 2 publications

References 1 publication

Prototyping of a Novel Thruster for Underwater ROVs

Prototyping of a Novel Thruster for Underwater ROVs

Centroid variability model–based control of HITUWV for automatic underwater welding with enhanced stability and accuracy

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