Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

Wu, Lihong; Li, Yiping; Su, Shaojuan; Yan, Peng; Qin, Yu

doi:10.1016/j.oceaneng.2014.04.022

Cited by 60 publications

(32 citation statements)

References 21 publications

(25 reference statements)

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“…First, the grid independence is verified, and the k-e model is used for simulations [14]. In order to improve the simulation efficiency under the premise of ensuring the calculation accuracy, the gridindependence has been verified, and we finally selected the based size of 0.45m.The meshing of the stable wing is shown in Fig.…”

Section: A Steady Hydrodynamic Analysis Of Stable Wingmentioning

confidence: 99%

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

Meng

Yang

et al. 2019

OCEANS 2019 - Marseille

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Two new types of towing docking device for automated recovery of an autonomous underwater vehicle (AUV) from an unmanned surface vehicle (USV) are described. One type is the form of the stable wing, and the other is the form of the captured-rod. On the basis of the current towing stable wing, two tail rudders have been added to the tail of the stable wing and the docking device's posture can be changed by adjusting the two tail rudders. For the captured-rod docking device, a V-type capture mechanism needs to be installed at the front of a AUV. Firstly, the mechanical structure of the two towing docking devices is introduced, and the mechanical analysis are analyzed. Then, for the stable wing, the steady-state numerical simulations under different working conditions are carried out, and dynamic numerical simulations are also carried out when the docking device is towed by a USV. Besides, the collision process between the AUV and the captured-rod is also simulated. Finally, the stable wing towing docking device is being implemented and tested on a USV.

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Section: A Steady Hydrodynamic Analysis Of Stable Wingmentioning

confidence: 99%

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

Meng

Yang

et al. 2019

OCEANS 2019 - Marseille

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“…The moving mesh method has been used in 2-D (dimensional) problems such as the vortex induced vibrations of a circular cylinder (Furquan et al, 2016), and flow over a flexible fish-like body (Zhang et al, 2008), as well as 3-D moving boundary simulations such as deflection of a tail wing (Murayama et al, 2002), relative motion with a large distance, such as storage separation (Cavallo et al, 2004;Snyder, 2005), an AUV swimming from a tube (Wu et al, 2010), and an AUV approaching with a dock (Wu et al, 2014). However, moving mesh methods suffer from problems of severe mesh distortion and high rates of re-meshing (Zhang et al, 2010) which restrict their application in systems with complex relative motions such as self-propulsion with a high-speed rotating propeller.…”

Section: Introductionmentioning

confidence: 99%

A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller

Liu

et al. 2019

Ocean Engineering

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“…However, their durations are constrained by their limited battery capacities and data storage spaces [9]. To solve this problem docking stations are designed and deployed in the work areas of the robots to maintain them in practical applications [10,11]. To ensure the safety and the success in the docking process, a feasible path is required to be planned firstly [12].…”

Section: Introductionmentioning

confidence: 99%

Reactive Path Planning Approach for Docking Robots in Unknown Environment

Cui

Yan

Wang

2017

Journal of Advanced Transportation

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Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

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Hydrodynamic analysis of AUV underwater docking with a cone-shaped dock under ocean currents

Cited by 60 publications

References 21 publications

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

Study on the Mechanical Characteristics of a Towing Docking Device for USV Self-Recovering AUVs

A physics-based simulation for AUV underwater docking using the MHDG method and a discretized propeller

Reactive Path Planning Approach for Docking Robots in Unknown Environment

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