Validation of multi-body modelling methodology for reconfigurable underwater robots

Nielsen, Michael Engelbrecht; Eidsvik, Ole Alexander Nørve; Blanke, Mogens; Schjølberg, Ingrid

doi:10.1109/oceans.2016.7761240

Cited by 9 publications

(11 citation statements)

References 18 publications

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“…Kelasidi et al (2014b), Kelasidi et al (2014a) and Kelasidi et al (2015) used multi-body dynamics to synthesize and validate an amphibious underwater snake model. This article extends and validates the multi-body dynamic modelling approach in Nielsen et al (2016a) and Nielsen et al (2016b), which using the Udwadia-Kalaba formulation Udwadia and Phohomsiri (2007). This article first presents the theoretical approach used to model a system of re-configurable underwater robots.…”

Section: Introductionmentioning

confidence: 72%

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

et al. 2018

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Section: Introductionmentioning

confidence: 72%

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

et al. 2018

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“…A simple reconfigurable underwater robot was developed for studying the dynamic characteristics of multibody underwater robots by Nielsen et al [19] in 2016, as shown in Fig. 4a.…”

Section: ) Auvs For Studying Dynamic Characteristics or Increasing Fmentioning

confidence: 99%

“…Assigning reconfigurable abilities to small and medium-sized single-body AUVs will be a potential solution to the current situation. According to the statistical data of 42 multibody AUVs introduced in this paper, the typical platforms (the reconfigurable underwater robot [19], TriMARES [20], [21], Girona [33], [34], ROBUST [35], [36], Angel [95], USS-G2 [92], [93], and the serial-structured underwater vehicle [96]) with reconfigurable ability account for approximately 16.7%. Due to the limitation of maneuverability, a single-body AUV capable of performing general ocean observation tasks has difficulty meeting the mapping requirements of complex seabed terrain.…”

Section: B the Structure Of Each Unit Is Developing Towards Reconfigmentioning

confidence: 99%

Development of Multibody Marine Robots: A Review

Kang

Zhang

et al. 2020

IEEE Access

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Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields. A multibody marine robot is a multibody system composed of multiple single-body marine robots (defined as a unit) in a certain topology. Such a system is generally characterized by underactuation, hyperredundancy, power distribution, modularization and so on. Compared with traditional single-body marine robots, multibody marine robots can carry greater loads and have more forms of motion, so they can meet more specialized functional requirements. At the same time, they also have more complex hydrodynamic characteristics due to their unique structures and motion forms. In this paper, the types, features, and hydrodynamic characteristics of typical multibody marine robots are reviewed and summarized based on the connection structures between units. In addition, the development trends of multibody marine robots are analyzed and discussed. This review work anticipates positive attention from future readers regarding multibody marine robots, which represent an important subarea of marine robots.

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“…Indeed, the proposed approach allows expressing directly the motion of the cluster using a 6-DOF equation, rather than using a 6N-DOF vector of quasi-velocities as in refs. [14][15][16]. Moreover, with respect to the recursive Newton-Eulerian formulation used in ref.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Underwater Multi-Hull Vehicles

Ingrosso¹,

Palma²,

Avanzini³

et al. 2019

Robotica

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Summary This paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

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Validation of multi-body modelling methodology for reconfigurable underwater robots

Cited by 9 publications

References 18 publications

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

Constrained multi-body dynamics for modular underwater robots — Theory and experiments

Development of Multibody Marine Robots: A Review

Dynamic Modeling of Underwater Multi-Hull Vehicles

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