Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach

Tian, Baoqiang; Yu, Jian; Zhang, Aiqun

doi:10.1109/cyber.2015.7288123

Cited by 6 publications

(4 citation statements)

References 9 publications

(10 reference statements)

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“…Motion simulation of wave energy-powered USV under certain sea conditions is performed in ref. [128]. In ref.…”

Section: Wave Energy-powered Asvs and Auvsmentioning

confidence: 99%

Renewable Energy for Robots and Robots for Renewable Energy – A Review

Hassan¹,

Habrouk²,

Deghedie³

2019

Robotica

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SUMMARY Fossil fuel sources are well suited to fulfill the energy needs of human beings. Unfortunately, there are some limitations and disadvantages pertaining to fossil fuels, some of which are drastic. The main issues are: firstly, there is a finite supply of these fuels, eventually this supply will be exhausted; secondly, burning fossil fuels contributes to global warming, leading to disastrous consequences for the environment and the health of humans. Switching to renewable energy sources is the viable solution to the aforementioned issues. Robots bring numerous benefits in a wide variety of applications. Introducing robots to production environments and other applications results in a remarkable improvement in terms of productivity and efficiency. In this paper, the integration between robots and renewable energy sources is discussed. In other words, two main points are investigated: (1) how can renewable energy be a viable source of energy for robots and (2) how can the renewable energy industry benefit from utilizing robots in the execution of renewable energy-related tasks. Some of the recent developments concerning the integration between robots and renewable energy are reviewed. In addition, more opportunities and expected advancements are also discussed.

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“…Motion simulation of wave energy-powered USV under certain sea conditions is performed in ref. [128]. In ref.…”

Section: Wave Energy-powered Asvs and Auvsmentioning

confidence: 99%

Renewable Energy for Robots and Robots for Renewable Energy – A Review

Hassan¹,

Habrouk²,

Deghedie³

2019

Robotica

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“…Qi et al [14] and Jia et al [15] established the dynamic equation of a Wave Glider based on the Kane equation and used MATLAB to simulate and analyze the motion when a Wave Glider sinks with the wave surface. Tian et al [16,17] used the D-H method to establish a motion equation and analyze the influence of wave height, wave period, and maximum limited angle on motion efficiency. Li [18] used a dynamic model to simulate the influence of umbilical length and wing number, which provide the basis for parameter optimization.…”

Section: Introductionmentioning

confidence: 99%

Design of Wave Glider Optimal Parameters Suitable for the Northwest Pacific Ocean, the North Indian Ocean, and the South China Sea

Chen

Mei

et al. 2021

JMSE

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To study the optimal design of Wave Glider parameters in the wave environment of the Northwest Pacific Ocean, the North Indian Ocean, and the South China Sea, the average velocity of a Wave Glider was taken as the evaluation criterion. Wave reanalysis data from ERA5 were used to classify the mean wave height and period into five types by the K-means clustering method. In addition, a dynamic model was used to simulate the influence of umbilical length, airfoil, and maximum limited angle on the velocity of the Wave Glider under the five types of wave element. The force of the wings was simulated using FLUENT as the model input. The simulation results show that (1) 7 m is the most suitable umbilical length; (2) a smaller relative thickness should be selected in perfect conditions; and (3) for the first type of wave element, 15° is the best choice for the maximum limited angle, and 20° is preferred for the second, third, and fourth types, while 25° is preferred for the fifth type.

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“…Model-scale lab tests are deemed to be the most effective way as well as the most expensive way due to the demand of highly specialized hydrodynamic testing facilities. With the benefit of conducting systematic investigations at a minimum cost, the later has often been the preferable option (Elhadad et al (2014), Tian et al (2014), Jia et al (2014), Tian et al (2015), Liu et al (2016)). With the enhancement of the modern computational technology, numerical simulation using the unsteady Reynolds Averaged Navier-Stokes (URANS) is acknowledged to be an ideal solution to investigate the performance of the wave glider (Jia et al (2014), Liu et al (2016).…”

Section: Introductionmentioning

confidence: 99%

“…The model of movement efficiency was established from the perspective of energy conversion, and then this formula was further confirmed through direct comparison of the numerical results based on linear wave theory with experimental results. Furthermore, Tian et al (2015) applied the D-H approach and the Lagrange mechanics to the simulation of the dynamic motion of the wave glider. From these simulations mentioned above, only the thrust and drag coefficients of the wave glider can be determined.…”

Section: Introductionmentioning

confidence: 99%