Design, Fabrication, and Testing of the Fixed-Wing Air and Underwater Drone

Caruccio, Danielle; Rush, Meaghan; Smith, Peter R.; Carroll, J. Douglas; Warwick, Peter; Smith, Eric A.; Fischer, Caleb; Motylinski, Kevin; Vasconcelos, Lucas F.; Costa, Paulo; Santos, Dioser

doi:10.2514/6.2017-4447

Cited by 9 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The next step was to research the design of the variable-sweep wing configuration, which could potentially decrease the water entry impact acceleration [14,15]. Similar prototypes were designed by Caruccio and Wang with detailed designs, fabrication, and testing presented in their literatures [16,17]. Guo proposed an interesting and perfect bimodal system, which consisted of a foldable blade propeller with a variable-sweep wing for aerial and underwater power and a compressed gas thruster for the egress process, as shown in Figure 3c [18].…”

Section: Configuration Designmentioning

confidence: 99%

Configuration Design and Trans-Media Control Status of the Hybrid Aerial Underwater Vehicles

Danqiang

et al. 2022

Applied Sciences

View full text Add to dashboard Cite

Hybrid aerial underwater vehicles (HAUV) are newly borne vehicle concepts, which could fly in the air, navigate underwater, and cross the air-water surface repeatedly. Although there are many problems to be solved, the advanced concept, which combines the integrated multidomain locomotion of both water and air mediums is worth exploring. This paper presents the water–air trans-media status of the HAUV from the perspective of the configuration and trans-media control. It shows that the multi-rotor HAUV is relatively mature and has achieved a stable water–air trans-media process repeatedly. The morphing HAUV is still in its exploration stage, and has achieved partial success.

show abstract

Section: Configuration Designmentioning

confidence: 99%

Configuration Design and Trans-Media Control Status of the Hybrid Aerial Underwater Vehicles

Danqiang

et al. 2022

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…In comparison, FHAUV inherits the motion mechanism and efficient hydrodynamic characteristics of fixed-wing UAV, and the lift is provided by the wings, so FHAUV has lower energy consumption and faster flight speed, allowing it to operate over long periods and wide ranges, which gives FHAUV better time, space and daily cost advantages in future large-scale applications. The wings of FHAUV have several structures, such as delta wing [18,19], flat wing [20][21][22] and folding wing [23] types. However, the general FHAUV inclines and crosses the water surface continuously in the air/water transition, without the ability of VTOL at the water surface, and also faces a large difference in flight speed and underwater speed.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Li,

Jin,

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

The hybrid aerial underwater vehicle (HAUV) could operate in the air and underwater might provide a great convenience for aerial and underwater exploration, and the fixed-wing HAUV (FHAUV) has time, space and cost advantages in future large-scale applications, while the large difference between the aerial and underwater environments is a challenge to control, especially in the air/water transition. However, for FHAUV control, there is a lack of research on phenomena or problems caused by large changes in the air/water transition. In addition, the effects of wind, wave, other factors and conditions on motion control are not investigated. This paper presents the first control study on the above issues. The motion model of FHAUV is developed, with the effects of wind and wave disturbances. Then, this paper improves a cascade gain scheduling (CGS) PID for different media environments (air and water) and proposes a cascade state feedback (CSF) control strategy to address the convergence problem of FHAUV control caused by large speed change in the air/water transition. In the comparisons of the two control schemes in various tracking cases including trajectory slopes, reference speeds, wind and wave disturbances, CSF has a better control effect, convergence rate and robustness; the key factors and conditions of the air/water transition are investigated, the critical relations and feasible domains of the trajectory slopes and reference speeds that the FHAUV must meet to successfully exit the water and enter the air are obtained, the critical slope decreases as the reference speed increases, and the feasible domain of CSF is larger than that of CGS, revealing that CSF is superior than CGS for exiting the water.

show abstract

“…Due to the development of electronics and materials, aerial-aquatic vehicles have emerged in the past decade. People have been inspired by UAVs to create aerial-aquatic robots, which can be mainly divided into fixed-wing [16][17][18][19][20] and multirotor [21][22][23] robots by configuration.…”

Section: Introductionmentioning

confidence: 99%

An Aerial–Aquatic Robot with Tunable Tilting Motors Capable of Multimode Motion

Qin,

Tang,

Zhong

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

Aerial–aquatic robots have promising applications due to their ability to operate in air and water with different motion modes. However, challenges such as water/air transition and multimedia movement still limit their development. Inspired by the aerial–aquatic behavior of wild ducks, an aerial–aquatic robot with tunable tilting motors and a delta wing is introduced. The robot can perform multimode motion, including flying in air, swimming on the water surface, transitioning between air and water, and diving underwater. Besides, the buoyancy design enables the robot to float at the air–water interface without consuming energy. Herein, the performance of the robot, including vertical and horizontal cross‐media performance, power consumption, and endurance in various motion modes, is evaluated. The field experiments show that the proposed robot possesses multimode motion and high maneuverability. This study provides a new idea for the structural design of next‐generation practical aerial–aquatic robots.

show abstract

Design, Fabrication, and Testing of the Fixed-Wing Air and Underwater Drone

Cited by 9 publications

References 0 publications

Configuration Design and Trans-Media Control Status of the Hybrid Aerial Underwater Vehicles

Configuration Design and Trans-Media Control Status of the Hybrid Aerial Underwater Vehicles

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

An Aerial–Aquatic Robot with Tunable Tilting Motors Capable of Multimode Motion

Contact Info

Product

Resources

About