NDLI: Designing a Vertical / Horizontal AUV for Deep Ocean Sampling

Content Provider	IEEE Xplore Digital Library
Author	Byron, J. Tyce, R.
Copyright Year	2007
Description	Author affiliation: Univ. of Rhode Island, Narragansett (Byron, J.; Tyce, R.)
Abstract	Faculty and students at the URI Dept. of Ocean Engineering have conceived of a new class of AUV for deep sea profiling and sampling called a Mini Ocean Elevator (or MiniOE). The MiniOE is intended to operate as both a vertical and a horizontal AUV on the same mission, beginning its mission as a vertical profiler and then converting to a horizontal AUV for sampling prior to homing on an acoustic beacon at the surface. Such a vehicle has tremendous potential for ocean research while presenting unique challenges for stability and control. Horizontal AUVs typically achieve stability against roll and pitch through significant mass below the center of buoyancy along with tail fins. For a vertical vehicle this mass-ballast displacement must be in an orthogonal direction along the longitudinal axis to achieve stability in pitch and yaw, forsaking roll stability. Designing a cigar shaped AUV capable of both horizontal and vertical stability represents an unusual challenge. This paper describes the design work and testing involved in developing a stable vertical AUV that will later be equipped to convert itself to a stable horizontal AUV. This design effort used a balanced combination of physical experimentation and computer simulation to provide detailed information about how different configurations of an autonomous underwater vehicle (AUV) might affect its stability, and thus the controllability, while using conventional hardware and software resources. Passive vertical ocean projectiles like XBTs typically use maximum displacement between mass and buoyancy centers along with rotation and / or tail drag to achieve stability. But for a vertical AUV to guide its descent and maintain sensor orientation means rotation is undesirable, and thus must be stabilized or controlled. Of course vertical and horizontal vehicles need this stability in different directions. As a result converting from one to the other is particularly challenging. Descent rate control and orientation stability can be influenced by using tail drag to balance vehicle weight. For the purposes of designing a stable vertical descent profile for the Mini O.E., a computer model was constructed to test parameters that affect control and stability of the vehicle through hydrodynamics. The model was verified by measurements on a physical test-bed of the vehicle in shallow depths and with varying initial conditions. The test-bed vehicle included a Tattletale microcontroller/logger with rapid data acquisition from 3-axis magnetometer, 3-axis accelerometer, rotation and precision pressure sensors. The vehicle was dropped vertically first into a 5 meter deep tank, then into 20 meter deep water in Narragansett Bay. Experimental results served as "ground truth" for the vehicle's dynamic characteristics, showing the stabilizing tendencies in descent inherent with different configurations. The test-bed observations were reconciled with a custom Matlab simulation model which provided a cost effective method of demonstrating the influence of changing physical parameters. The model was able to show how the vehicle would act with active controls and under a wide variety of configurations and conditions, which would otherwise be costly to physically build and test.
Starting Page	1
Ending Page	10
File Size	6270898
Page Count	10
File Format	PDF
ISBN	9780933957350
DOI	10.1109/OCEANS.2007.4449428
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Oceans Sampling methods Stability Testing Mathematical model Tail Marine vehicles Elevators Sea surface Computer simulation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Designing a Vertical / Horizontal AUV for Deep Ocean Sampling

A variable buoyancy system for deep ocean vehicles

Optimizing AUV oceanographic surveys

The Development and Ocean Testing of an AUV Docking Station for a 21" AUV

AUV survey design applied to oceanic deep convection

Analysis of horizontal zigzag manoeuvring trials from the MUN Explorer AUV

Asynchronous data fusion for AUV navigation via heuristic fuzzy filtering techniques

Physical oceanography from deep ocean submarine cable observations

Elevators-autonomous transporters for deepsea benthic sample recovery

Designing a Vertical / Horizontal AUV for Deep Ocean Sampling

Similar Documents

Designing a Vertical / Horizontal AUV for Deep Ocean Sampling

A variable buoyancy system for deep ocean vehicles

Optimizing AUV oceanographic surveys

The Development and Ocean Testing of an AUV Docking Station for a 21" AUV

AUV survey design applied to oceanic deep convection

Analysis of horizontal zigzag manoeuvring trials from the MUN Explorer AUV

Asynchronous data fusion for AUV navigation via heuristic fuzzy filtering techniques

Physical oceanography from deep ocean submarine cable observations

Elevators-autonomous transporters for deepsea benthic sample recovery

Designing a Vertical / Horizontal AUV for Deep Ocean Sampling