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Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles (HAUVs)

Rehman, F; Thomas, G; Anderlini, E; (2019) Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles (HAUVs). In: Proceedings of the 6th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19). International Academy of Science, Engineering and Technology (International ASET Inc.): Ottawa, Canada. Green open access

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Abstract

This paper considers two HAUVs undertaking underwater transportation of a spherical payload via cylindrical manipulators. The rigid body connection method of transportation is explored. In this analysis, the nonlinear coupled dynamic model is developed to get an accurate representation of the actual system. Hydrodynamic parameters for all the part bodies are calculated about the centre of the combined system. The hydrostatic terms of the HAUVs and manipulators are selected such that their weight is slightly less than the buoyancy, in order to bring the entire system to surface in case of an emergency. The weight of the payload is selected such that the difference between weight and buoyancy is within the thrust limit of the vertical thrusters on the two HAUVs. The propulsion model is developed taking the effect of all the thrusters on the two HAUVs about the combined centre of body. The simulation platform is developed to observe the response of the entire system and of the individual HAUVs in the system at different revolutions of the thrusters. The stability of the entire system is ensured by maintaining the connection between the vehicles and payload. The simulation results show that stability and motion accuracy are compromised in the axial direction due to the opposite revolutions of the axial thrusters on the two HAUVs.

Type: Proceedings paper
Title: Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles (HAUVs)
Event: 6th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)
Location: Carleton University, Ottawa, Canada
Dates: 06 June 2019 - 07 June 2019
Open access status: An open access version is available from UCL Discovery
DOI: 10.11159/cdsr19.138
Publisher version: https://doi.org/10.11159/cdsr19.138
Language: English
Additional information: This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: nonlinear coupled dynamic model; hydrodynamic parameters; hydrostatic terms; propulsion model; stability; motion accuracy
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10076142
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