...Haochen Hong; Tinxiao Xiong; Guohua Xu; Kan Xu This paper proposes a new algorithm for the fault tolerance control of the X-rudder Underwater Vehicle. First, a fault model of an X-rudder autonomous underwater vehicle (AUV) is shown to prove the control effect of the proposed controller. Second...

...Miaomiao Huang; Chengjun Gao; Nan Zhang _ The hydrodynamic forces and flow fields of an underwater vehicle encountering internal solitary waves are numerically simulated by the Reynolds-averaged Navier–Stokes method. The Korteweg–de Vries internal solitary theory is used to model the induced...

...Christian Weißenfeld; Moustafa Abdel-Maksoud This paper focuses on the numerical analysis of the free running maneuvers of an underwater vehicle. The maneuver behavior is analyzed via maneuvering coefficients, which are gained by free running maneuvers based on computational fluid dynamics (CFD...

...Min Zhao; Qingqing Yuan; Tao Wang; Tong Ge; Weicheng Cui A heavier-than-water underwater vehicle (HUV) is unlike an unmanned underwater vehicle. The most notable characteristic is its ability to balance its weight with the hydrodynamic lift of water even though the weight is much greater than...

...Spandan Roy; Sambhunath Nandy; Ranjit Ray; Siva Ram Krishna Vadali; Sankar Nath Shome Autonomous Underwater Vehicles (AUVs) are becoming indispensable for the maritime industry and defense applications. The nonlinear, time-varying, and highly coupled dynamics of AUVs, along with the parametric...

...Howan Kim; Zhi Quan Leong; Dev Ranmuthugala; Alexander Forrest This paper presents computational and experimental studies of an Autonomous Underwater Vehicle (AUV) undergoing prescribed lateral and angular acceleration manoeuvres (pure sway and pure yaw). The Computational Fluid Dynamics (CFD...

...Son-Cheol Yu This paper addresses an automation method of underwater tasks using AUV (Autonomous Underwater Vehicles).An AUV has a small agent vehicle to connect to an underwater docking station which is connected with operators. If the agent docks, the operator can fully monitor and control...

... propose a virtual mooring system using an underwater vehicle, and we have developed a vehicle which will glide back and forth between the sea surface and the seabed collecting ocean data. This paper presents the developed vehicle and its field experiment. INTRODUCTION In recent years, predictions...

... deserts and rising water levels. Autonomous Underwater Vehicles (AUV) were considered and chosen as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started building a long-range cruising AUV. The plan for its development is in several steps...

... maneuverability of an underwater vehicle. This paper discusses the guidance and control of an underwater vehicle equipped with 2 pairs of oscillating fins in water currents. The rear pair of oscillating fins mounted in the horizontal plane of the original underwater vehicle were reconfigured in the vertical plane...

...Paul Williams An efficient approach for planning towing maneuvers for an underwater vehicle via ship and winch control is presented. It is demonstrated that it is possible to generate a towing strategy for a submersible vehicle such that the towed body follows a desired trajectory in the presence...

... phenomenon around the fin was investigated from the flow visualization and computational results. INTRODUCTION Several existing underwater vehicles are controlled by thrusters and wings. These vehicles, however, display poor control performance while hovering and turning in a vertical or horizontal plane...

... designed to optimize the hovering and low-speed maneuvering performance of an undersea vehicle. This paper deals with the guidance and control of an underwater vehicle equipped with 2 pairs of oscillating fins in waves and in water currents. The robot was guided first from a far point to a near point...

...Chong-Moo Lee; Pan-Mook Lee; Seok-Won Hong; Sea-Moon Kim; Woojae Seong This paper presents a hybrid underwater navigation system for unmanned underwater vehicles. The navigation system consists of an inertial measurement unit (IMU) and a Doppler velocity log (DVL) along with the magnetic compass...

... are public facilities and are difficult to stop long-term for inspection tasks, the tasks require a shortened mission time. We propose a multi-AUV (Autonomous Underwater Vehicle) system for the tasks. 1 12 2004 1 12 2004 2004. The International Society of Offshore and Polar Engineers...

... is navigation by HS. AUV (Autonomous Underwater Vehicles) take images of all inspection targets and navigational accuracy is estimated. The second experiment deals with obstacle avoidance. In case the smart cable is entangled within obstacles, AUV disentangle the cable and modify the plan for avoidance...

...R. Gao; E. Kondo; H. Kajiwara; W. Koterayama; M. Nakamura The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled...

...Jin S. Chung; Michel Olagnon ABSTRACT The First International Deep-Ocean Technology (IDOT-96) Symposium and Workshop was held in 1996 and co-sponsored by the U.S. National Science Foundation (NSF). The meeting focused on the technologies required in the development of underwater vehicles...

...M.A. Grosenbaugh; C.T. Howell; S. Moxnes ABSTRACT: A numerical technique for calculating the two-dimensional motions of a tethered underwater vehicle is presented. The method is unique because of its ability to simulate accurately the dynamics of cables that are under low tensions...

.... This programme was of an extent of 22.5 person years, and comprised eight research projects. These covered a wide range of technology, including underwater material technology, flexible risers, and underwater vehicles with their equipments, especially manipulators. One of the projects was motion dynamics...