Modeling, characterization and control of a piston-driven buoyancy system for a hybrid aerial underwater vehicle

Hu, Rui; Lu, Di; Xiong, Chengke; Lyu, Chenxin; Zhou, Hexiong; Jin, Yufei; Wei, Tongjin; Yu, Caoyang; Zeng, Zheng; Lian, Lian

doi:10.1016/j.apor.2021.102925

Cited by 12 publications

(3 citation statements)

References 29 publications

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“…In addition to underwater gliders, there are other underwater vehicles that make use of this system. HAUVs (hybrid aerial underwater vehicles), for example, which are capable of exploring both underwater and aerial environments, need to vary their density substantially due to the proposal to move in different environments [4,14,16].…”

Section: International Symposium On Innovation and Technologymentioning

confidence: 99%

Review of Variable Buoyancy Systems Operation

Santana,

Davi,

Aelo

et al. 2023

Blucher Engineering Proceedings

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This work aims to overview of variable buoyancy systems available in the marketplace. The systems were classified according to the actuating system of each equipment found in the industry. Characteristics like the movements that can be controlled by the system (Pitch, Roll, and Heave), the maximum depth that can be reached, and its dissemination in underwater vehicles (seismographs, ROVs, AUVs, HAUVs, and underwater gliders) are shown in this paper.

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Section: International Symposium On Innovation and Technologymentioning

confidence: 99%

Review of Variable Buoyancy Systems Operation

Santana,

Davi,

Aelo

et al. 2023

Blucher Engineering Proceedings

View full text Add to dashboard Cite

show abstract

“…In fact, experimentally developing controllers is challenging and often impractical due to the high costs and time required for conducting pool tests or sea trials. Although several studies in the literature present experimental and simulation results of depth control in vehicles using buoyancy change devices [22,[24][25][26][27][28], the accuracy of the model, namely for depth control purposes, is usually discarded. For instance, in [22], the model of an electrohydraulic VBS vertical motion is developed and used to synthesize several linear and nonlinear controllers.…”

Section: Introductionmentioning

confidence: 99%

“…As can be seen from the description above, many works in the literature use the vertical motion model of a VBS to develop the controller in simulation, but there is not any comparison between the experimental and simulated results. A notable exception may be found in [28], where an electromechanical actuated VBS is developed for incorporation in a hybrid aerial underwater vehicle. In this work, a complete motion 3D model is developed, and the pitch angle and heave velocity simulation results obtained in closed-loop control using a PID controller are compared against the ones obtained in lake experiments.…”

Section: Introductionmentioning

confidence: 99%

Electrohydraulic and Electromechanical Buoyancy Change Device Unified Vertical Motion Model

Falcão Carneiro,

Pinto,

Gomes de Almeida

et al. 2023

Actuators

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Depth control is crucial for underwater vehicles, not only to perform certain tasks that require the vehicle to be still at a given depth but also because most propeller-driven vehicles waste a considerable amount of energy to counteract the passively tuned positive buoyancy. The use of a variable buoyancy system (VBS) can effectively address these items, increasing the energetic efficiency and thus mission length. Achieving accurate depth controllers is, however, a complex task, since experimental controller development in sea or even in test pools is unpractical and the use of simulation requires accurate vertical motion models whose parameters might be difficult to obtain or measure. The development of simple, yet comprehensive, dynamic models for devices incorporating VBS is therefore of upmost importance, as well as developing procedures that allow a simple determination of their parameters. This work contributes to this field by deriving a unified model for the vertical motion of a VBS actuated device, irrespective of the specific technological actuation solution employed, whether it be electromechanical or electrohydraulic. A concise analysis of the open-loop stability of the unified model is presented and a straightforward yet efficient procedure for identifying several of its parameters is introduced. This identification procedure is designed to be convenient and can be carried out in shallow waters, such as test pools, while its results are applicable to the deeper water model as well. To validate the procedure, experimental values obtained from an electromechanical VBS actuated device are used. Closed-loop control of the electromechanical VBS actuated device is conducted through simulation and experimental tests. The results confirm the effectiveness of the proposed unified model and the parameter identification methodology.

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An Aerial–Aquatic Hitchhiking Robot with Remora‐Inspired Tactile Sensors and Thrust Vectoring Units

Li,

Liu,

Tian

et al. 2023

Advanced Intelligent Systems

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Hybrid aerial–aquatic robots can operate in both air and water and cross between these two. They can be applied to amphibious observation, maritime search and rescue, and cross‐domain environmental monitoring. Herein, an aerial–aquatic hitchhiking robot is proposed that can fly, swim, and rapidly cross the air–water boundaries (0.16 s) and autonomously attach to surfaces in both air and water. Inspired by the mechanoreceptors of the remora (Echeneis naucrates) disc, the robot's hitchhiking device is equipped with two flexible bioinspired tactile sensors (FBTS) based on a triboelectric nanogenerator for tactile sensing of attachment status. Based on tactile sensing, the robot can perform reattachment after leakage or adhesion failure, enabling it to achieve long‐term adhesion on complex surfaces. The rotor‐based aerial–aquatic robot, which has two thrust vectoring units for underwater locomotion, can maneuver to pitch, yaw, and roll 360° and control precision motion position. The field tests show that the robot can continuously cross the air–water boundary, attach to the rough stone surface, and record video in both air and underwater. This study may shed light on future autonomous robots capable of intelligent navigation, adhesion, and operation in complex aerial–aquatic environments.

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Modeling, characterization and control of a piston-driven buoyancy system for a hybrid aerial underwater vehicle

Cited by 12 publications

References 29 publications

Review of Variable Buoyancy Systems Operation

Review of Variable Buoyancy Systems Operation

Electrohydraulic and Electromechanical Buoyancy Change Device Unified Vertical Motion Model

An Aerial–Aquatic Hitchhiking Robot with Remora‐Inspired Tactile Sensors and Thrust Vectoring Units

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