Journal ArticleDOI
Experimental determination of the hydrodynamic coefficients of an underwater manipulator
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In this paper, a single degree-of-freedom (DOF) manipulator arm with a rectangular cross section is built to investigate the hydrodynamic effects, including drag force, added mass, and the moments induced by these forces.Abstract:
A single degree-of-freedom (DOF) manipulator arm with a rectangular cross section is built to investigate the hydrodynamic effects, including drag force, added mass, and the moments induced by these forces. The drag–velocity relationships (linear and angular) are experimentally established and the drag force/moment coefficients are deduced. The added mass and the added moment of inertia are determined for the first time through the relationship between the added mass of the manipulator and its acceleration. These data are very useful for developing the dynamic model and therefore the optimum control of underwater manipulators. ©1999 John Wiley & Sons, Inc.read more
Citations
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Journal ArticleDOI
Input shaping control of a nuclear power plant’s fuel transport system
Umer Hameed Shah,Keum-Shik Hong +1 more
TL;DR: In this article, the residual vibration control problem of a nuclear power plant's fuel-transport system is discussed and a mathematical model of the system was developed to simulate the under-water sway response of the rod while keeping in view the effects of the hydrodynamic forces imposed by the surrounding water.
Journal ArticleDOI
Simultaneous Determination of Drag Coefficient and Added Mass
Wai Leung Chan,Taesam Kang +1 more
TL;DR: In this article, a method to simultaneously determine the drag coefficient and added mass from a simple and economic experiment and a numerical identification procedure was presented, and the identification error was studied analytically and numerically for some experimental uncertainties.
Journal ArticleDOI
Model reference adaptive control for a hydraulic underwater manipulator
Jianjun Yao,Chengjun Wang +1 more
TL;DR: In this paper, a model reference adaptive control (MRAC) is applied to an underwater manipulator to solve its nonlinear dynamics and hydrodynamics when it operates underwater, and adaptive controller parameters are adjusted on-line in real time according to the error between the reference model output and the system output and outputs of the state filters.
Journal ArticleDOI
Dynamic Modeling and Hydrodynamic Performance of Biomimetic Underwater Robot Locomotion
Koray K. Şafak,George G. Adams +1 more
TL;DR: Simulations indicate that the developed robot is able to locomote with high stability and can walk against constant currents and surge.
Journal ArticleDOI
Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots.
TL;DR: Two different free decay tests were carried out and it was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).
References
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Journal ArticleDOI
Robust trajectory control of underwater vehicles
TL;DR: In this article, a recent extension of sliding mode control is shown to handle nonlinearities, is highly robust to imprecise models, explicitly accounts for the presence of high-frequency unmodeled dynamics, and produces designs that are easy to understand.
Journal ArticleDOI
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
TL;DR: It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems and three promising methods for planning and controlling the motion of space robotic systems are presented.
Journal ArticleDOI
Modeling and control of underwater robotic vehicles
TL;DR: The results show that the use of the adaptive control system can provide high performance of the vehicle in the presence of unpredictable changes in the dynamics of thevehicle and its environment.
Journal ArticleDOI
A Coordinated Control of an Underwater Vehicle and Robotic Manipulator
H. Mahesh,Junku Yuh,R. Lakshmi +2 more
TL;DR: An adaptive control strategy for the coordinated control of an underwater vehicle and its robotic manipulator is described and the results show that the presented control system can provide the high performance of the vehicle and manipulator in the presence of unpredictable changes in the dynamics of the Vehicle and its environment.
Journal ArticleDOI
Dynamic Analysis of a Manipulator in a Fluid Environment
Benoît Lévesque,Marc J. Richard +1 more
TL;DR: An approximate method for the computation of buoyancy in local coordinates is presented, where the drag forces are computed by numerical integration of the local drag force.