Multi-objective optimization and driving mechanism design for controllable wings of underwater gliders

Wu, Qingzhong; Wu, Haiyuan; Jiang, Zhihong; Tan, Liang; Yang, Yunqiang; Yan, Shaoze

doi:10.1016/j.oceaneng.2023.115534

Cited by 9 publications

(2 citation statements)

References 31 publications

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“…Underwater gliders, characterized by their low energy consumption and long endurance capabilities, have found widespread application in ocean observation [1]. Launching underwater gliders to the target sea area via aircraft, as opposed to deployment by a mother ship, can significantly broaden the application scope of gliders.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

Wu,

et al. 2024

JMSE

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Underwater gliders have emerged as effective tools for long-term ocean exploration. Employing aircraft for launching underwater gliders could significantly expand their application. Compared to slender underwater vehicles, the distinctive wing structure of underwater gliders may endure huge impact forces when entering water, leading to more intricate impact load characteristics and potential wing damage. This paper employs a computational fluid dynamics approach to analyze the water entry event of an airdropped underwater glider and its impact load behavior. The results indicate that the glider impact load is enhanced prominently by the wing, and that the extent of enhancement is influenced by the entry attitude. At an entry angle of 80°, the glider exhibits the maximum impact load during different water entry angles. In addition, a larger attack angle indicates a higher glider impact load. Our present study holds significant importance for both the hydrodynamic shape design and water entry strategy control of airdropped underwater gliders.

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Section: Introductionmentioning

confidence: 99%

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

Wu,

et al. 2024

JMSE

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“…With the advancement of oceanography research and marine resource exploration, underwater mobile platforms have gained prominence, assuming a pivotal role in various underwater missions including resource exploration, ocean observation, environmental monitoring, and sea area investigations [1][2][3]. These platforms come in various types, such as remotely operated vehicles (ROVs) [4][5][6], autonomous underwater vehicles (AUVs) [7][8][9], and underwater gliders (UGs) [10][11][12]. Among these, the underwater glider (UG) stands out as a buoyancy-driven autonomous robot capable of converting vertical motion into horizontal movement using airfoil technology, allowing it to move forward with minimal power consumption over extended periods [13].…”

Section: Introductionmentioning

confidence: 99%

Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders

Vu,

Kim,

Nguyen

et al. 2023

JMSE

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Underwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy engines and propellers individually, and the decoupled heave dynamics of the HUG were defined using quadratic hydrodynamic damping. Because buoyancy engines always run at slow speeds, the buoyancy force was formulated based on the constant force rate of the engine. It was assumed that the nominal value of the heave dynamics parameters could be estimated; therefore, the analytical solution of heave dynamics could be formulated using the thrusting saturation and constant buoyancy force rate. Then, the shortest trajectory for depth control of the HUG could be established while considering the actuator saturation. To verify the effectiveness of the TOT in HUG heave dynamics, extensive tracking control simulations following the TOT were conducted. It was found that the proposed TOT helps the HUG reach the desired depth in the shortest arrival time, and its robust depth control showed good tracking performance in the presence of external bounded disturbances.

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TRAA: a two-risk archive algorithm for expensive many-objective optimization

Lin,

Liu

2024

Complex Intell. Syst.

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Many engineering problems are essentially expensive multi-/many-objective optimization problems, and surrogate-assisted evolutionary algorithms have gained widespread attention in dealing with them. As the objective dimension increases, the error of predicting solutions based on surrogate models accumulates. Existing algorithms do not have strong selection pressure in the candidate solution obtaining and adaptive sampling stages. These make the effectiveness and area of application of the algorithms unsatisfactory. Therefore, this paper proposes a two-risk archive algorithm, which contains a strategy for mining high-risk and low-risk archives and a four-state adaptive sampling criterion. In the candidate solution mining stage, two types of Kriging models are trained, then conservative optimization models and non-conservative optimization models are constructed for model searching, followed by archive selection to obtain more reliable two-risk archives. In the adaptive sampling stage, in order to improve the performance of the algorithms, the proposed criterion considers environmental assessment, demand assessment, and sampling, where the sampling approach involves the improvement of the comprehensive performance in reliable environments, convergence and diversity in controversial environments, and surrogate model uncertainty. Experimental results on numerous benchmark problems show that the proposed algorithm is far superior to seven state-of-the-art algorithms in terms of comprehensive performance.

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Multi-objective optimization and driving mechanism design for controllable wings of underwater gliders

Cited by 9 publications

References 31 publications

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders

TRAA: a two-risk archive algorithm for expensive many-objective optimization

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