Study on dynamic docking process and collision problems of captured-rod docking method

Meng, Long; Yang, Lin; Gu, Hui; Su, Tsung-Chow

doi:10.1016/j.oceaneng.2019.106624

Cited by 12 publications

(6 citation statements)

References 23 publications

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“…in which the ⃗ n k is the unit vector expressed as 8) into Equation ( 9), the algebraic linear equation of the cable tensions is derived as Equation (10).…”

Section: Dynamic Equationmentioning

confidence: 99%

“…For the sake of simple expression, the matrix form of tension equation is written as Equation (11), where {U} is a tridiagonal coefficient matrix, and {t} is the tension vector. All the elements in {U} except for the first and last rows are read directly from Equation (10). The remaining elements in {U} are determined by Equations ( 12) and ( 13), including the element for the first row of {f }.…”

Section: Dynamic Equationmentioning

confidence: 99%

“…The cone-shaped docking assembly is a traditional implementation, 6,7 which can not only be fixed on the seabed for building AUV remote mission-programmed network 4,8 but also be attached to the USV through the rigid rod or tether line for AUV recovery. 9,10 In Reference 11, hydrodynamic behaviors associated with AUVs when approaching the conical dock were investigated by numerical simulations. Reference 12 built a dynamic model, discussed the associated key elements, and provided suggestions for the AUV docking control.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

Liu

et al. 2021

Adaptive Control & Signal

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In this article, a novel cable-drogue docking system is proposed between an autonomous underwater vehicle (AUV) and one mobile underwater platform, to increase the docking safety and reduce the negative influences of turbulences around the platform shell on the AUV. The mathematical model of the cable-drogue system and an radial basis function neural network (RBFNN)-based Q-learning proportional-integral-differential (PID) controller are developed for the system characteristics analysis and the stabilized control. First, the cable-drogue's mathematical model is established as a link-joint-connected system, whose kinematic and dynamic equations are derived subjected to the hydrodynamic forces on system. One numerical solution procedure is also presented to obtain the motion state of the cable-drogue system. Next, considering the current interferences on the cable-drogue system, a cross rudder is added on the drogue to enhance the robustness. An RBFNN-based Q-learning PID controller is proposed to improve the control performances, in which the control parameters are adaptively optimized by an Q-learning neural network. Finally, numerical simulations are made to study the steady-state and dynamic characteristics of the cable-drogue system in ocean environment, and to investigate the performances of both the traditional PID controller and the proposed RBFNN-based Q-learning PID controller in unknown dynamical system. Simulation results show the effectiveness of the kinematic and dynamic equations of the cable-drogue system and the proposed controller in this article.

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“…in which the ⃗ n k is the unit vector expressed as 8) into Equation ( 9), the algebraic linear equation of the cable tensions is derived as Equation (10).…”

Section: Dynamic Equationmentioning

confidence: 99%

Section: Dynamic Equationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

Liu

et al. 2021

Adaptive Control & Signal

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“…6 Without a doubt, one prerequisite to realizing successful AUV docking is the in-depth study of the fluid interference challenge in the AUV docking process while exploring the underlying physical mechanism. 7 Kim and Lee 8 provided an ocean-current model and added motion equations to predict the maneuverability of the AUV; Pan et al 9 regarded the docking structures as the rigid bodies, carried out the multi-body dynamic collision analysis of the underwater docking system, and obtained the basic collision parameters; Meng et al 10 used the hydrodynamic simulation software STAR to investigate the influencing parameters linked to the collision force on the catch-bar docking system during capture. Wu et al 11 carried out a physical simulation of docking between the AUV and the fixed dock connecting the URANS equation with the six-DOF equation by adopting discretized thruster and multi-block hybrid grid techniques.…”

Section: Introductionmentioning

confidence: 99%

Study on influencing factors of hydrodynamics based on AUV docking with conical dock

Diao

Yuan

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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It is necessary to investigate the dynamic performance during autonomous underwater vehicle (AUV) underwater docking to aid in control and to enhance docking safety. Therefore, in this study, the docking hydrodynamic characteristics (including the docking system’s streamline, velocity vector, and surface pressure during the overall docking process) of the AUV with conical hood dock are determined by using the dynamic grid technology, and the water drag force situations of the AUV docking with conical hood dock are studied from the perspectives of different velocities, accelerations, navigation modes, and structures. Additionally, the multiple nonlinear regression fits and the preliminary docking test were examined. Furthermore, brief inferences obtained are as follows: First, the maximum pressure is situated at the upstream surface of the dock conical hood and the head of the AUV, and the maximum rotation angle of the streamline is situated at the outermost ring of dock conical hood. Within a specified range, the rotation angle of the streamline affected by the conical hood progressively declines as the AUV docks deeper into the conical hood. Second, low velocity uniform docking, deceleration docking, and chase docking can reduce the drag force to a certain extent during docking. Finally, both arc shape and mesh structure can decrease the water drag force of docking to a specified degree. This research provides a theoretical basis and reference methods for the dynamic research of the docking system, and other related research can be carried out through the methods and results of this research.

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“…After the mission, the AUV can navigate autonomously to the underwater docking station and perform operations such as energy replenishment and data upload [15,16]. Underwater docking technology greatly improves the concealment, continuity and mobility of AUV underwater operations and is a key research direction in the future [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Underwater Acoustically Guided Docking Method Based on Multi-Stage Planning

Xu,

Yang,

Bai

et al. 2023

JMSE

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Autonomous underwater vehicles (AUVs) are important in areas such as underwater scientific research and underwater resource collection. However, AUVs suffer from data portability and energy portability problems due to their physical size limitation. In this work, an acoustic guidance method for underwater docking is proposed to solve the problem of persistent underwater operation. A funnel docking station and an autonomous remotely operated vehicle (ARV) are used as the platform for designing the guidance algorithms. First, the underwater docking guidance is divided into three stages: a long-range approach stage, a mid-range adjustment stage and a short-range docking stage. Second, the relevant guidance strategy is designed for each stage to improve the docking performance. Third, a correction method based on an ultra-short baseline (USBL) system is proposed for the ARV’s estimate of the depth, relative position and orientation angle of the docking station. To verify the feasibility of the docking guidance method, in this work, tests were performed on a lake and in a shallow sea. The success rate of autonomous navigation docking on the lake was 4 out of 7. The success rate of acoustic guidance docking on the lake and in the shallow sea were 11 out of 14 and 6 out of 8, respectively. The experimental results show the effectiveness of the docking guidance method in lakes and shallow seas.

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Study on dynamic docking process and collision problems of captured-rod docking method

Cited by 12 publications

References 23 publications

Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

Study on influencing factors of hydrodynamics based on AUV docking with conical dock

Underwater Acoustically Guided Docking Method Based on Multi-Stage Planning

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