Development of an autonomous buoy system for AUV

Nishida, Yuya; Kojima, Junichi; Ito, Yuzuru; Tamura, Kenkichi; Sugimatsu, Harumi; Kim, Kangsoo; Sudo, Taku; Ura, Tamaki

doi:10.1109/oceans-genova.2015.7271614

Cited by 11 publications

(5 citation statements)

References 2 publications

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“…При этом появляется возможность оперативного получения больших объемов информации, накопленных в результате работы поискового оборудования ап парата. Наличие поверхностного модуля ретранслятора решает эту задачу, а также позволяет по данным его приемника спутниковой навигационной системы (СНС) уточнять географические координаты АПР [1][2][3][4][5][6].…”

Section: Introductionunclassified

The Research of Steady-State Modes Characteristics, and Dynamics of Tethered System of the Autonomous Underwater Robot With Towed Surface Radiocommunication Module

Костенко¹,

Мокеева²

2020

Podvodnye Issledovaniia I Robototehnika

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Использование буксируемого поверхностного модуля радиосвязи (ПМР) позволяет организовать высокоскоростной канал связи поста управления с автономным подводным роботом (АПР), а также значительно упростить его навигационное обеспечение. При этом возмущения от кабеля связи, действующие на АПР и ПМР, будут в значительной степени влиять на характеристики движения такой привязной системы. В работе методами компьютерного моделирования исследуются силовые воздействия кабеля связи на буксировке, а также их влияние на движение аппарата в установившихся режимах и по типовым траекториям маневрирования. Для установившихся значений глубины погружения и скорости хода АПР определена длина кабеля связи, обеспечивающая минимальное силовое воздействие от буксировки на аппарат. Предложена комплексная модель системы управления движением подводной привязной системы, учитывающая динамику АПР и кабеля связи. Разработана кинематическая модель поведения ПМР, определяющая его заглубление и гидродинамическое сопротивление при буксировке. Приведены результаты моделирования движения привязной системы по типовым траекториям, характерным для обзорно-поисковых АПР, которые позволяют оценить дополнительные требования к тяговым характеристикам движительно-рулевого комплекса аппарата, а также к необходимому запасу плавучести ПМР. Utilization of the towed surface radiocommunication module (SRM) allows organizing a high-speed communication channel between the control station and autonomous underwater robot/autonomous underwater vehicle (AUR/AUV), as well as significantly simplify its navigation guidance support. Herewith, the disturbances from communication cable effects on AUV and SRM, and heavily influences the motion characteristics of such a tethered system. This paper studies force actions of communication wire on towage and its influence on vehicle motion along standard maneuvering trajectories in steady-state modes using computer modeling. The length of communication cable providing minimal force actions on the vehicle from towing was determined for steady values of submersion depth and movement speed of the AUV. The integrated model of the motion control system of the underwater tethered system was proposed taking into account the dynamic of AUV and communication cable. The kinematic model of SRM behavior was designed to determine its submersion depths and hydrodynamic resistance while being towed. Acquired and demonstrated results of the tethered system motion modeling along standard trajectories typical for search operations allow estimating additional requirements for thrust characteristics of the propulsion/steering unit of the vehicle, as well as the necessary buoyance reserve of the SRM.

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Section: Introductionunclassified

The Research of Steady-State Modes Characteristics, and Dynamics of Tethered System of the Autonomous Underwater Robot With Towed Surface Radiocommunication Module

Костенко¹,

Мокеева²

2020

Podvodnye Issledovaniia I Robototehnika

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“…These features make mobile sensing buoys very well suited to high temporal sampling of relatively small spatial areas. The pressing need for small, low-cost and rapidly deployable autonomous buoys is well captured by several recent reports (Nishida et al 2015;Pico et al 2016;Matos et al 2016;Vesecky et al 2007a).…”

Section: Introductionmentioning

confidence: 99%

Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies

et al. 2018

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The design, construction, and testing of a large distributed system of novel, small, low-cost, autonomous surface vehicles in the form of self-propelled buoys capable of operating in open waters is reported. We detail the successful testing of collective behaviors of systems with up to 50 buoys, achieving scalable deployment and dynamic monitoring in unstructured environments. This constitutes the largest distributed multi-robot system of its kind reported to date. We confirm the robustness of the system to the loss of multiple units for different collective behaviors such as flocking, navigation, and area coverage. For dynamic area monitoring, we introduce a new metric to quantify coverage effectiveness. Our system exhibits near optimal scalability for fixed target areas and a high degree of flexibility when the shape of the target changes with time. This system demonstrates the potential of distributed multi-robot systems for the pervasive and persistent monitoring of coastal and inland water environments.

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“…Lítio-Polímero [82], [27], [114], [89], [21], [81], [71], [113], [95], [99], [49], [43], [42], [61], [84], [59] Lítio-Ion [19], [1], [107], [102], [28], [34], [75], [86], [90], [93], [40], [38], [74], [125], [109], [22], [110], [73], [31], [94], [97], [55], [118], [62], [45], [54] Níquel Metal Hidreto [102], [34], [111], [62]…”

Section: Tecnologia Utilizada Referênciasunclassified

“…Wi-Fi [98], [96], [143], [107], [102], [115], [75], [23], [125], [91], [87], [71], [95], [99], [22], [49], [30], [110], [43], [25], [88], [60] Xbee [113], [27] UHF [47] VHF [142], [50] Acústica [144], [1], [131], [50], [130], [107], [115], [75], [145], [23], [89], [93], [125], [74], [87], [126], [71], [111], [49], [30], [110], [63], …”

Section: Tecnologia Referênciasmentioning

confidence: 99%

“…Windows [130], [145], [84], [86], [68], [73], [102], [149], [43], [109], [47] Linux [117], [110], [97], [130], [125], [34], [145], [23], [107], [115], [54], [21], [148] Nenhum (Firmware) [69] RTOS [145], [85], [134], [136], [42], [124] Tabela [117], [131], [49], [140], [61], [60] OROCOS [40], [41] ROS [117], [87], [72], [140], [21], [79]…”

Section: Sistema Operacional Referênciasmentioning

confidence: 99%

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Desenvolvimento de veículos autônomos submarinos para aplicações oceanográficas.

Oliveira¹

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Development of an autonomous buoy system for AUV

Cited by 11 publications

References 2 publications

The Research of Steady-State Modes Characteristics, and Dynamics of Tethered System of the Autonomous Underwater Robot With Towed Surface Radiocommunication Module

The Research of Steady-State Modes Characteristics, and Dynamics of Tethered System of the Autonomous Underwater Robot With Towed Surface Radiocommunication Module

Distributed system of autonomous buoys for scalable deployment and monitoring of large waterbodies

Desenvolvimento de veículos autônomos submarinos para aplicações oceanográficas.

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