Unmanned surface vehicles: An overview of developments and challenges

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Guidance And Control Of Ocean Vehicles

Advances in global linear instability analysis of nonparallel and three-dimensional flows

The development of the One Atmosphere Uniform Glow Discharge Plasma has made it possible to cover the wings and fuselage of aircraft with a thin layer of glow discharge plasma at low energy cost. This plasma layer provides, through Lorentzian collisions, a purely electrohydrodynamic coupling between an electric field and the neutral gas in the boundary layer. This coupling is strong enough to cause aerodynamically significant acceleration and manipulation of the boundary layer and free stream flow, including re-attachment of flow to an airfoil at high angles of attack, and the peristaltic induction of neutral gas flow by a traveling electrostatic wave on the surface of a flat plate.

Aerodynamic flow acceleration using paraelectric and peristaltic electrohydrodynamic effects of a One Atmosphere Uniform Glow Discharge Plasma

The subject of ocean turbulence is in a state of discovery and development with many intellectual challenges. This book describes the principal dynamic processes that control the distribution of turbulence, its dissipation of kinetic energy and its effects on the dispersion of properties such as heat, salinity, and dissolved or suspended matter in the deep ocean, the shallow coastal and the continental shelf seas. It focuses on the measurement of turbulence, and the consequences of turbulent motion in the oceanic boundary layers at the sea surface and near the seabed. Processes are illustrated by examples of laboratory experiments and field observations. The Turbulent Ocean provides an excellent resource for senior undergraduate and graduate courses, as well as an introduction and general overview for researchers. It will be of interest to all those involved in the study of fluid motion, in particular geophysical fluid mechanics, meteorology and the dynamics of lakes.

https://assets.cambridge.org/97805218/35435/frontmatter/9780521835435_frontmatter.pdf

The Turbulent Ocean

In-water tests of automated launch and recovery (L&R) of a Hydroid REMUS 100 autonomous underwater vehicle (AUV) from a station-keeping 16-ft wave adaptive modular vehicle unmanned surface vehicle (USV) have been conducted to determine the feasibility of developed concepts of operation. The USV is a catamaran with a custom-configured propulsion system that enables it to maintain position and heading on the surface. AUV launch is accomplished through lowering the AUV from the USV top tray to the water surface and releasing it. Recovery is initiated through requiring the AUV to navigate toward an acoustic homing beacon on a taut line suspended from the USV. The taut line serves as docking target and as a connecting link between the two vehicles during L&R. During these operations, the USV approximately keeps station on the water surface. Once the docking is complete, the USV moves forward, towing the AUV as it is extracted onboard the USV via a customized winch mechanism. It was found that for appropriate environmental conditions, L&R of the AUV from a station-keeping USV is an effective alternative to the mobile L&R method using the same vehicles, with the same launch and recovery system.

Launch and Recovery of an Autonomous Underwater Vehicle From a Station-Keeping Unmanned Surface Vehicle

A survey of small-scale subsurface variability within the synoptic observational field of an ocean surface current radar (OSCR) using an autonomous underwater vehicle (AUV) is described. The survey involved observation of a developing upper mixed layer in a littoral zone off southeast Florida, on the edge of a strong Florida current during the summer of 1999. Complimentary in situ observations from a bottom-mounted acoustic Doppler current profiler (ADCP), conductivity-temperature (CT) chain arrays, atmospheric measurements from a surface buoy, and CTD and ADCP observations from a surface ship provided the background to the survey. The AUV, the Ocean Explorer, equipped with a CTD, downward and upward looking ADCPs, and a small-scale turbulence package, was used to conduct a continuous 12-h survey of small-to-fine-scale variability within a few grid cells of the surface current radar field. The vehicle repeatedly sampled the same grid in a set pattern at a fixed mid-water depth. Maps of developing spatial distribution of current, salinity, temperature, and rate of dissipation have been developed using the AUV-based observations. The observed features in the current field compare well with the OSCR and the bottom-mounted ADCP measurements.

An AUV survey in the littoral zone: small-scale subsurface variability accompanying synoptic observations of surface currents

Numerical modeling of turbulence and its effect on ocean current turbines

There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV) or Remotely Operated Vehicles (ROV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this paper is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 unmanned surface vehicle (USV) in order to autonomously launch and recover a REMUS 100 autonomous underwater vehicle (AUV). The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous-Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.

High-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform autonomous launch and recovery (ALR) of an autonomous underwater vehicle (AUV)

We present the results of large-eddy simulations (LES) of turbulent thermal convection generated by surface cooling in a finite-depth stably stratified horizontal layer with an isothermal bottom surface The flow is a simplified model of turbulent convection occurring in the warm shallow ocean during adverse weather events Simulations are performed in a 6 × 6 × 1 aspect ratio computational domain using the pseudo-spectral Fourier method in the horizontal plane and finite-difference discretization on a high-resolution clustered grid in the vertical direction A moderate value of the Reynolds number and two different values of the Richardson number corresponding to a weak initial stratification are considered A version of the dynamic model is applied as a subgrid-scale (SGS) closure Its performance is evaluated based on comparison with the results of direct numerical simulations (DNS) and simulations using the Smagorinsky model Comprehensive study of the spatial structure and statistical properties of the developed turbulent state shows some similarity to Rayleigh–Benard convection and other types of turbulent thermal convection in horizontal layers, but also reveals distinctive features such as the dominance of a large-scale pattern of descending plumes and strong turbulent fluctuations near the surface

http://www.eng.fau.edu/engineering/directory/faculty/dhanak/pdf/ekman1.pdf

Manhar R. Dhanak

Papers

Launch and Recovery of an Autonomous Underwater Vehicle From a Station-Keeping Unmanned Surface Vehicle

An AUV survey in the littoral zone: small-scale subsurface variability accompanying synoptic observations of surface currents

Numerical modeling of turbulence and its effect on ocean current turbines

High-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform autonomous launch and recovery (ALR) of an autonomous underwater vehicle (AUV)

Turbulent convection driven by surface cooling in shallow water