Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach

Tian, Baoqiang; Yu, Jiancheng; Zhang, Aiqun

doi:10.1007/s11771-015-3008-6

Cited by 22 publications

(8 citation statements)

References 6 publications

(3 reference statements)

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“…Yu et al [20] modeled the forward speed of a floating mobile buoy with a submerged foil, assuming a known heave motion, showing that the forward speed increases with the buoy heave motion. Furthermore, Liu et al [19] compared the experimental results from a prototype Waveglider system to CFD simulations, finding good agreement; whereas Tian et al [21] presented a Lagrangian approach to model the dynamics of a heave-driven system. In addition, a regression method has also been applied to solve for the forward speed of a heave-driven system [23], however, this method relies on extensive data acquired on the forward speed and heading of an in-situ wave-propelled boat; that is, free-running numerical models have been developed to predict the forward speed of a heave-driven wave-propelled vessel.…”

Section: Literature Reviewmentioning

confidence: 99%

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Bowker

Tan

Townsend

2021

IEEE J. Oceanic Eng.

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Wave-propelled boats utilize submerged flapping foils to convert wave energy directly into propulsion. For platforms that are solely propelled using submerged flapping foils, predicting the forward speed is challenging as it is time varying and dependent on the coupled responses of the wave-induced hull motions (surge, heave, and pitch) and the foil flapping motion (driven by the waveinduced hull motions and incident wavy flow). To ascertain the free-running response of wave-propelled boats, this article presents a hybrid discrete time-domain numerical model and experimental results from a prototype wave-propelled autonomous surface vehicle (ASV) with forward and aft (tandem) flapping foils. Results from a series of free-running experiments in regular head waves, over a range of wave frequencies for three different foil locations, are presented and used to validate the numerical model. The model was found to show good agreement with the experimental results, capturing the coupled dynamics of the vessel and foils and oscillating forward speed, over a range of wave frequencies and foil locations. The model and results provide a valuable insight for the design of wave-propelled boats.

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Section: Literature Reviewmentioning

confidence: 99%

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Bowker

Tan

Townsend

2021

IEEE J. Oceanic Eng.

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“…According to the structural diagram of the manipulator and the coordinate system of the link parameters established by the D-H [18,19] parameter method, the link parameters of the PUMA560 [17,20] can be obtained, as shown in Table 1.…”

Section: Kinematics Modeling Of Manipulatormentioning

confidence: 99%

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Zhao

2020

Journal of Robotics

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Aiming at the existing artificial potential field method, it still has the defects of easy to fall into local extremum, low success rate and unsatisfactory path when solving the problem of obstacle avoidance path planning of manipulator. An improved method for avoiding obstacle path of manipulator is proposed. First, the manipulator is subjected to invisible obstacle processing to reduce the possibility of its own collision. Second, establish dynamic virtual target points to enhance the predictive ability of the manipulator to the road ahead. Then, the artificial potential field method is used to guide the manipulator movement. When the manipulator is in a local extreme or oscillating, the extreme point jump-out function is used in real time to make the end point of the manipulator produce small displacements and change the action direction to effectively jump out of the dilemma. Finally, the manipulator is controlled to avoid all obstacles and move smoothly to form a spatial optimization path from the start point to the end point. The simulation experiment shows that the proposed method is more suitable for complex working environment and effectively improves the success rate of manipulator path planning, which provides a reference for further developing the application of manipulator in complex environment.

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“…It is obvious that the UG body is its dynamic part and pulls the whole wave glider to move forward, independent of the wave direction. The rudder, equipped on the UG body, is used to steer the wave glider's direction …”

Section: Mre Applied In Ocean Robotsmentioning

confidence: 99%

“…The rudder, equipped on the UG body, is used to steer the wave glider's direction. 72 It was a great success for wave glider in the PacX game (from California to Australia), which has created a new world record for the longest distance traveled by an autonomous vehicle (12 872 km) and attracted the attention of experts around the world. 73 By equipping with different sensors on wave glider, considerable research work has been carried out in the ocean biological monitoring, [74][75][76] water measurement, 77-79 marine ecological environment research, 80,81 marine meteorology, 82,83 etc.…”

Section: Convert Wave Directly Into Driving Forcementioning

confidence: 99%

Current status and prospects of marine renewable energy applied in ocean robots

Tian

2019

Int J Energy Res

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Summary The power supply for ocean robots has always been an important issue since it has a fatal influence on the endurance of these vehicles. However, the marine renewable energy (MRE) has huge potential and can provide the possibility to solve this problem between essential endurance and finite energy in ocean robots. This paper starts with brief introduction of marine energy resource and ocean robots and presents significance of improving ocean robots' endurance, through comparison of their performance characteristics. MRE applied in ocean robots developed or under development, including energy conversion and driving principle, is reviewed, such as solar, wind, tides, waves, thermal energy, etc. Many challenges and difficulties are also discussed in energy exploitation and utilization related to ocean robots. Finally, the prospect for the future development of related technologies is proposed in this paper.

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Dynamic modeling of wave driven unmanned surface vehicle in longitudinal profile based on D-H approach

Cited by 22 publications

References 6 publications

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Forward Speed Prediction of a Free-Running Wave-Propelled Boat

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Current status and prospects of marine renewable energy applied in ocean robots

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