A multi-body approach for 6dof modeling of biomimetic autonomous underwater vehicles with simulation and experimental results (original) (raw)

Modeling and Simulation of a Biomimetic Underwater Vehicle

2008

This paper describes work carried out at the University of Glasgow investigating biomimetic fish-like propulsion systems for underwater vehicles. The development of a simple mathematical model is described for a biomimetic fish like vehicle which utilizes a tendon drive propulsion system. This model is then compared with a model of a vehicle of similar size but with a propeller for main propulsion. Simulation results for both models are shown and compared.

Modelling and simulation of a biomimetic underwater vehicle

2008

Design, Modelling, And Simulation Of Biomimetic Underwater Vehicle

ECMS 2023 Proceedings edited by Enrico Vicario, Romeo Bandinelli, Virginia Fani, Michele Mastroianni

This paper discusses mathematical model implementations and simulation in various software environments for Unmanned Underwater Vehicles (UUVs), especially biomimetic ones. Gaining accurate simulation models of UUVs is challenging due to many nonlinear phenomena that need to be analysed. Further, the sensors’ accuracy and disturbances made by the natural water environment are difficult to predict during the simulation. On the other hand, an accurate simulation model is needed during new algorithm tests provided for increased vehicle autonomy. As a result, mathematical models and their implementation into different software are analysed and discussed in this paper. The model based on nonlinear differential equations is compared to an object-oriented, physical model based on Matlab Simscape Multibody.

Open-Loop Control of a Multifin Biorobotic Rigid Underwater Vehicle

IEEE Journal of Oceanic Engineering, 2008

This paper presents an open-loop control system for a new experimental vehicle, named the biorobotic autonomous underwater vehicle (BAUV). The rigid cylindrical hull of the vehicle is attached with six strategically located fins to produce forces and moments in all orthogonal directions and axes with minimal redundancy. The fins are penguin-wing inspired and they implement the unsteady high-lift principle found widely in swimming and flying animals. The goal has been to design an underwater vehicle that is highly maneuverable by taking the inspiration from nature where unsteady hydrodynamic principles of lift generation and the phase synchronization of fins are common. We use cycle-averaged experimental data to analyze the hydrodynamic forces and moments produced by a single foil as a function of its kinematic motion parameters. Given this analysis, we describe a method for synthesizing and coordinating the sinusoidal motion of all six foils to produce any desired resultant mean force and moment vectors on the vehicle. The mathematics behind the resulting algorithm is elegant and effective, yielding compact and efficient implementation code. The solution method also considers and accommodates the inherent physical constraints of the foil actuators. We present laboratory experimental results that demonstrate the solution method and the vehicle's resulting high maneuverability. Index Terms-Autonomous underwater vehicle (AUV), biorobotics, high lift, maneuverability, open-loop control. I. INTRODUCTION N ATURAL flyers and swimmers have evolved to skillfully utilize physical principles from unsteady hydrodynamics to achieve high maneuverability and efficiency [1]-[6]. Manmade autonomous underwater vehicles (AUVs), on the other hand, have been conceived and operated for decades to either remain safely within the realm of steady hydrodynamics-where the design of vehicle body, actuation mechanisms, and control system is simpler to understand and implement-or to avoid the issue altogether by using a number of thrusters to push an arbitrarily shaped body through the water. This has often resulted Manuscript

A Modular Easy-To-Use Technique for Modeling and Simulation of Underwater Robotic Vehicles

IFAC Proceedings Volumes, 2000

This paper proposes a modular and easy to use approach to modeling of an underwater vehicle (UV) with robotic arms. The vehicle and the arms can be seen as an articulated structure, and modeled as a multibody system. External forces can be easily added to the structure using the Geometrical Jacobian. Thus, complex hydrodynamic effects can be put into vehicle dynamics as external modules. Such simulation structure can be used effectively for parallel simulation, using distributed computing techniques. The paper will show how the model is build, and explain how hydrodynamic effects have been added. Furthermore will present simulation results to prove model reliability, in particular will show that complex coupled dynamic effects have been successfully obtained.

Design and Control Strategy of Bio-inspired Underwater Vehicle with Flexible Propulsor

Journal of Modern Mechanical Engineering and Technology

Biomimetics aims to take inspiration from nature and develop new models and efficient systems for a sustainable future. Bioinspired underwater robotics help develop future submarines that will navigate through the water using flexible propulsor. This research has focused on the Manta Ray species as batoid has a unique advantage over other species. This study also aims to improve AUV (Autonomous Underwater Vehicle) efficiency through biomimetic design, the purpose of which is to observe and study the marine environment, be it for sea exploration or navigation. The design and prototyping process of bioinspired AUVs have been mentioned in this study, along with testing a propulsive mechanism for efficient swimming and turning capabilities. The Robot was designed taking structural considerations from the actual Manta-Ray locomotion and body design. The propulsion mechanism and control circuit were then implemented on the developed systems. The prototype of the Manta Ray was able to gene...

3D hydrodynamic analysis of a biomimetic robot fish

2010 11th International Conference on Control Automation Robotics Vision, 2010

This paper presents a three-dimensional (3D) computational fluid dynamic simulation of a biomimetic robot fish. Fluent and user-defined function (UDF) is used to define the movement of the robot fish and the Dynamic Mesh is used to mimic the fish swimming in water. Hydrodynamic analysis is done in this paper too. The aim of this study is to get comparative data about hydrodynamic properties of those guidelines to improve the design, remote control and flexibility of the underwater robot fish.

The Development of a Biologically Inspired Propulsor for Unmanned Underwater Vehicles

IEEE Journal of Oceanic Engineering, 2007

Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of the bluegill sunfish. For this, the anatomy, kinematics, and hydrodynamics of the sunfish pectoral fin were investigated experimentally and through the use of computational fluid dynamics (CFD) simulations. These studies identified that the kinematics of the sunfish pectoral fin are very complex and are not easily described by traditional "rowing"and "flapping"-type kinematics. A consequence of the complex motion is that the pectoral fin can produce forward thrust during both its outstroke (abduction) and instroke (adduction), and while doing so generates only small lateral and lift forces. The results of the biological studies were used to guide the design of robotic pectoral fins which were built as experimental devices and used to investigate the mechanisms of thrust production and control. Because of a design that was based heavily on the anatomy of the sunfish fin, the robotic pectoral fins had the level of control and degrees of freedom necessary to reproduce many of the complex fin motions used by the sunfish during steady swimming. These robotic fins are excellent experimental tools, and are an important first step towards developing propulsive devices that will give the next generation of UUVs the ability to produce and control thrust like highly maneuverable fish.

Six-DOF simulations of an underwater vehicle undergoing straight line and steady turning manoeuvres

Ocean Engineering, 2018

This paper reports on numerical simulations conducted on an underwater vehicle for six-degrees of freedom (6-DOF) free running manoeuvres using Computational Fluid Dynamics (CFD). The CFD manoeuvring trials (straight line and steady turning manoeuvres) were conducted using a model-scaled BB2 submarine with movable control planes and a body force propeller represented by an actuator disk incorporating predetermined propulsion properties. The propulsion properties were obtained from captive self-propulsion simulation adopting the actual BB2 propeller. The free running simulations were validated against experimental data. The results showed that the 6-DOF CFD simulations are capable of predicting the BB2 manoeuvring characteristics with good agreement against the experimental data. The 6-DOF manoeuvring simulations carried out allow for the unsteady viscosity effects, which is usually a limitation of the traditional coefficient-based prediction method. The simulations will enable accurate determination of the vehicle's manoeuvring characteristics, which are essential for the control system design and its safe operating envelope.

A multi-body approach for 6dof modeling of biomimetic autonomous underwater vehicles with simulation and experimental results (original) (raw)

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