Fòlaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities

Álvarez, Alberto; Caffaz, A.; Caiti, Andrea; Casalino, Giuseppe; Gualdesi, L.; Turetta, Alessio; Viviani, R.

doi:10.1016/j.oceaneng.2008.08.014

Cited by 154 publications

(64 citation statements)

References 15 publications

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“…3 Reference frames and mass system distribution Distance from the roll mass' center of gravity to the center of inertia frame The net buoyancy is controlled by a pump that pumps water into and out of a ballast tank, changing the buoyancy mass. The kinetic energy of the buoyancy mass can be expressed as…”

Section: Kinematicsmentioning

confidence: 99%

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Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Ziaeefard

Page

Pinar

et al. 2017

J Intell Robot Syst

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This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech's custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE's design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between different motion patterns. This approach uses multiple feedforwardfeedback controllers. Different aspects of the roll mechanism and the effectiveness of the controller on turning motion are discussed based on experimental results. The results illustrate that the ROUGHIE is capable of achieving tight turns with a radius of 2.4 meters in less than 3 meters of water, or one order of magnitude improvement on existing internally actuated platforms. The developed roll mechanism is not specific to underwater gliders and is applicable to all AUVs, especially at lower speeds and in shallower water when external rudder is less effective in maneuvering the vehicle.

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Section: Kinematicsmentioning

confidence: 99%

“…One standard configuration of these underactuated AUVs includes a stern thruster and pair of rudders to control pitch and yaw while in motion such as [2][3][4]18].…”

Section: Introductionmentioning

confidence: 99%

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Ziaeefard

Page

Pinar

et al. 2017

J Intell Robot Syst

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“…Many existing AUVs adopt similar combinations of fixed pitch rear propellers and lateral tunnel thrusters in order to obtain a good vehicle maneuverability. It is possible to cite many examples, such as C-Scout [9], Remus [10], Proteus [11], Delphin2 [12] and Folaga [13].…”

Section: State Of Artmentioning

confidence: 99%

“…More generally, it should be noticed that the over-cited propulsion layouts could not be dynamically reconfigured during the mission so their usage could be critical in scenarios with uncertain operating parameters such as water density, currents, unexpected mission profile, availability or reliability of one or more actuators. For this kind of applications, the usage of pivoted thrusters should be a cheap and reliable solution, which are adopted in some innovative commercial products such as the Italian SeaStick [13], which is visible in Figure 4. In addition, pivoted thrusters have been recently used for research oriented vehicles such as the Smart E, developed by University of Luebeck, where three pivoted thrusters are used to control the six degree of freedom of spherical/saucer AUV [1], [2].…”

Section: State Of Artmentioning

confidence: 99%

Reconfigurable propulsion systems for the inspection of off-shore power generation plants

Allotta

Pagliai

Pugi

2016

2016 IEEE 16th International Conference on Environment and Electrical Engineering (EEEIC)

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Abstract-Inspection of offshore plants or harsh environments, require underwater vehicles with high degree of autonomy, performances and maneuverability. These characteristics are deeply influenced by the features of propulsion layouts of this kind of vehicle. In particular, the study of maneuverability required by ROV and AUV implies the modelling of four quadrants operation of propellers and of threedimensional interactions arising between complex propulsion and hull geometries. In this work, an application of reconfigurable propulsion layout of an inspection vehicle for offshore operation or harsh environments is introduced.

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“…The proposed scheme is having dedicated small actuators which are used for compensating the external disturbances and at the same time minimizing the power consumption. Since in the underwater mission due to its increasing load of responsibilities minimizing power consumption is necessary in order to maximizing the robot performance in other aspects and moreover in the present situation the robot has to perform multiple missions in a single launch such as inspection, oceanography, intervention tasks, etc [23,24]. The proposed scheme is concentrating the station keeping performance of the 147 underwater robot under different operating conditions.…”

Section: Introductionmentioning

confidence: 99%

Investigations on the dynamic station keeping of an underactuated autonomous underwater robot

Santhakumar¹,

Thondiyath²

2011

Int. j. simul. model.

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In this paper, a new method for station keeping of underactuated underwater robots in the presence of underwater currents and external disturbances is proposed. Three small additional thrusters are introduced for station keeping purpose which are less power consuming and are actuated only during the station keeping mode. These thrusters are located in such a way that the generated forces and torque are enough to compensate the underwater currents and disturbances. Station keeping thrusters' locations and directions are nearly optimized using Taguchi's robust design method. The effect of additional thrusters on robot tracking control performance is investigated and the results are presented. The effectiveness of the proposed configuration is demonstrated with the help of hardware-in-the-loop (HIL) simulations using an experimental autonomous underwater robot. The underwater current effect on the corresponding motions of the underwater robot is investigated and some interesting phenomena with respect to different underwater current amplitudes and directions are observed. Robustness of the proposed configuration is also investigated.

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Fòlaga: A low-cost autonomous underwater vehicle combining glider and AUV capabilities

Cited by 154 publications

References 15 publications

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Reconfigurable propulsion systems for the inspection of off-shore power generation plants

Investigations on the dynamic station keeping of an underactuated autonomous underwater robot

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