Design and analysis of an underwater quadrotor - AQUAD
18 May 2015-pp 1-5
TL;DR: A new configuration of underwater robotic vehicle, named AQUAD, is presented, a configuration with four thrusters in a plane which is inspired from an aerial quadrotor system, mathematically modelled using Newton-Euler approach.
Abstract: A new configuration of underwater robotic vehicle, named AQUAD, is presented here. It is a configuration with four thrusters in a plane which is inspired from an aerial quadrotor system. The system is designed considering the hydrodynamic challenges, and mathematically modelled using Newton-Euler approach. A PID controller is used to control the attitude of the system and implemented with the model to analyze its behavior. The system is commanded with various inputs and the performance of the model with the controller is studied. A prototype of AQUAD is being developed and the system is to be tested in real time.
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80 citations
TL;DR: This article conducts a literature review into the current state of underwater swarm robotics; it covers the design of the underwater robots, the methods used by the individual robot to perceive their environment, how they can localize to said environment, the method of communication available underwater, centralized and decentralized control, the basis of swarm algorithms and how swarms have been applied underwater.
Abstract: As technology advances, the places we have been able to explore have drastically increased. However, the advancements in the underwater realm have staggered behind both the exploration of surface and air domains. This is due in part to the challenges that arise when placing a robot in water. One current shift has seen the use of a swarm of robots that are cheaper and are of a lower quality, that work together to accomplish a common goal, as opposed to using a single expensive robot. Swarm robotics benefits from being more tolerant of catastrophic failure and can cover large areas in smaller time frames. However, unlike other advancements in technology, underwater swarm robotics have struggled to compete with its counterparts on the surface and in the air. This is mainly due to the problems with communication underwater, the hazardous environment, the cost and difficulties with construction of underwater robots. This article conducts a literature review into the current state of underwater swarm robotics; it covers the design of the underwater robots, the methods used by the individual robot to perceive their environment, how they can localize to said environment, the methods of communication available underwater, centralized and decentralized control, the basis of swarm algorithms, the behaviors that are exhibited when a swarm works collectively and how swarms have been applied underwater.
33 citations
Cites background from "Design and analysis of an underwate..."
...Quadcopters are under actuated which allows for a highly agile AUV [34]....
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...[37] J. Gelli et al., “Development and design of a compact autonomous underwater vehicle: Zeno AUV,” IFAC-PapersOnLine, vol. 51, no. 29, pp. 20–25, 2018....
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...Lastly there is the Smart and Networking UnderWAter Robots in Cooperation Meshes (SWARM) a project funded by the EU with the aim to bring more accessibility to AUVs/ROVs [192]....
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...[98] P. Kimball and S. Rock, “Sonar-based iceberg-relative AUV navigation,” in Proc....
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...[149] S. Tolba and R. Ammar, “Taking swarms to the field: AUV reorientation algorithm for PSO realization,” in Proc....
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02 Mar 2016
TL;DR: Experimental verification of performance of X8 quadrocopter propulsion system in practical terms of designing multi rotor platforms, comparing to design with 8 isolated propulsion units is presented and its advantages versus classic quadrotor concept is shown.
Abstract: There are many different types of propulsion systems developed for multi rotor UAVs. One of the most interesting designs is so called X8 quadrocopter, which extends original quadrotor concept to 8 motors, arranged in 4 coaxial pairs. The advantage of this solution is increased lift of platform, with reasonable volume of platform kept. However, this design suffers from the loss of efficiency due to coaxial propellers’ configuration, because the lower propeller loses thrust working in prop wash of upper propeller. This paper presents the experimental verification of performance of such propulsion system in practical terms of designing multi rotor platforms, comparing to design with 8 isolated propulsion units. In addition, its advantages versus classic quadrotor concept is shown. The series of experiments with different motors and sizes of propellers were conducted to estimate efficiency of coaxial propulsion regarding useful thrust generated by each configuration.
31 citations
01 Dec 2019
TL;DR: It is demonstrated that aquatic screwlike propellers are more efficient in the water than aerial ones, equally contradicting the current literature, and they improve the capacity to miniaturize hybrid vehicles.
Abstract: This paper presents a study on the configuration of propulsion systems for multirotor-like hybrid vehicles that travel in both, aerial and aquatic medium, hereafter called Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). Following, we evaluate the impact of diameter and shape of propellers, and the medium in which the robot moves, on thrust generation and energy consumption. Sets of counter-rotating propellers (CRPs) and single propellers propulsion systems were experimentally evaluated in air and under the water. One of our conclusions is that aerial counter-rotating propellers, used in the state-of-the-art hybrid vehicles, are relatively inefficient in the air, and even more in the water, and this energy loss must be taken into account during the platform project. Furthermore, we also demonstrate that aquatic screwlike propellers are more efficient in the water than aerial ones, equally contradicting the current literature. Moreover, since aquatic propellers provide more thrust with smaller diameters, they improve our capacity to miniaturize hybrid vehicles.
30 citations
Cites background from "Design and analysis of an underwate..."
...Other concepts of HUAUVs based on multirotor-like platforms have been published ever since [6], [7], [8], [9], but the authors of those studies have minimally discussed a basic and important feature in this kind of project: the hybrid propulsion system....
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TL;DR: The proposed controllers accomplish air, underwater, and “seamless” trans-media process integrated control without a priori boundary of disturbances, forcing the tracking errors to an arbitrarily small neighborhood of zero.
Abstract: We address the problem of vertical air–water trans-media control of Hybrid Unmanned Aerial Underwater Vehicles in the presence of parameters uncertainty and disturbances. Hybrid Unmanned Aerial Und...
27 citations
Cites background or methods from "Design and analysis of an underwate..."
...Taking the derivative of equation (10) and then substituting the upper formula of equation (11) into it, we obtain...
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...Substitute the lower formula of equation (11) into equation (12)...
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References
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Book•
01 Jan 1994
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Abstract: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High--Speed Craft Appendices Bibliography Index
3,577 citations
24 Apr 2000
TL;DR: A survey of the present state and future directions of commercial underwater robotics, examines principal technical challenges, and outlines new enabling technologies for commercial underwater robotic vehicles.
Abstract: The development of two new classes of commercial underwater robotic vehicles-deep diving work-class remotely operated vehicles and survey-class autonomous vehicles-is being driven by the needs of deep water oil production and deep ocean telecommunication cable operations. The paper presents a survey of the present state and future directions of commercial underwater robotics, examines principal technical challenges, and outlines new enabling technologies for commercial underwater robotic vehicles.
230 citations
"Design and analysis of an underwate..." refers methods in this paper
...Some underwater vehicles are used in commercial field applications [1] and some being employed for extraction of oil and gas [2]....
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TL;DR: The problem of trajectory tracking control of an underactuated autonomous underwater robot (AUR) in a three-dimensional (3-D) space is investigated and the proposed hybrid control law is developed by combining sliding mode control and classical proportional–integral–derivative (PID) control methods to reduce the tracking errors arising out of disturbances.
Abstract: The problem of trajectory tracking control of an underactuated autonomous underwater robot (AUR) in a three-dimensional (3-D) space is investigated in this paper. The control of an underactuated robot is different from fully actuated robots in many aspects. In particular, these robot systems do not satisfy Brockett's necessary condition for feedback stabilization and no continuous time-invariant state feedback control law exists that makes a specified equilibrium of the closed-loop system asymptotically stable. The uncertainty of hydrodynamic parameters, along with the coupled, nonlinear dynamics of the underwater robot, also makes the navigation and tracking control a difficult task. The proposed hybrid control law is developed by combining sliding mode control (SMC) and classical proportional–integral–derivative (PID) control methods to reduce the tracking errors arising out of disturbances, as well as variations in vehicle parameters like buoyancy. Here, a trajectory planner computes the body-fixed lin...
43 citations
"Design and analysis of an underwate..." refers background in this paper
...Choosing right underwater vehicle and appropriate technologies to accomplish any of the above mentioned missions is an important task [3],[4] and [5]....
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06 Jul 2012
TL;DR: In this paper, the authors presented a comprehensive nonlinear modeling of a 4-standard-propeller (4SP) quadrotor, and the guidelines to design it.
Abstract: The recent development of small yet sophisticated sensors has led to the development of smaller unmanned aerial vehicles, especially in the form of quadrotor When it is limited by the availability of the reverse propellers, the conventional quadrotor will no longer be realizable, and thus introducing the 4-standard-propeller (4SP) quadrotor design This paper presents a comprehensive nonlinear modeling of a 4SP quadrotor, and the guidelines to design it The advantages of constructing such aircraft and its detailed working principle are first highlighted A nonlinear mathematical model is then derived based on the first-principles approach The model parameters are finally identified and verified through actual flight tests
37 citations
"Design and analysis of an underwate..." refers background in this paper
...Quadrotors are aerial vehicles which uses four rotors in a plane and capable of Vertically Take Off and Land (VTOL) [9]....
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01 Dec 2013
TL;DR: The plunge-diving process of this submersible unmanned aerial vehicle is simplified as a water-entry problem with a certain initial velocity, and the impact force is calculated by the method of the computational fluid dynamics (CFD).
Abstract: A submersible unmanned aerial vehicle (UAV) is proposed firstly, which is capable of operating in both air and water. One of the outstanding characteristics of the UAV is that the air-water transition imitates that of a gannet, i.e., plunge-diving. In this paper, the plunge-diving process of this UAV is simplified as a water-entry problem with a certain initial velocity, and the impact force is calculated by the method of the computational fluid dynamics (CFD). The Volume of Fluid is coupled with the 3-D Navier-Stokes equations to establish the model of the flow field, and the equations are solved in Fluent 6.3. The phase distribution and the pressure distribution during water-entry are presented and analyzed. Furthermore, the effects of the dropping height and the wing's sweptback angle on the impact force are investigated and discussed.
31 citations
"Design and analysis of an underwate..." refers background in this paper
...Some fixed wing aerial configurations and reconfigurable configurations have also tried in [10],[11] and[12]....
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