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Model Predictive Control of an Autonomous Semi-Submersible Vehicle for Depth Control
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor) ; Salarieh, Hassan (Supervisor)
Abstract
In the past few decades, with the advancement of technology, using autonomous robots has been receiving growing interest. Autonomous semi-submersible vehicles are a subset of autonomous underwater vehicles (AUV). This type of vehicle operates near the surface of the water and is semi-submerged. Nonlinear coupled dynamics, structural uncertainties, model parameters dependency to robot velocity, external disturbances, and model constraints are AUV’s workspace challenges. For this reason, depth control of these vehicles in the presence of environmental disturbances is crucial. However, MPC as one of the advanced control methods in the field of robotics is increasingly developing. This control...
Numerical study to evaluate the important parameters affecting the hydrodynamic performance of manta ray's in flapping motion
, Article Applied Ocean Research ; Volume 109 , 2021 ; 01411187 (ISSN) ; Abbaspour, M ; Darbandi, M ; Sharif University of Technology
Elsevier Ltd
2021
Abstract
Manta ray swimming or bio-inspiration propulsion system, as a special type of marine propulsion system, is used for submersible vehicles that require high-speed maneuverability and stability, such as glider and AUV. In a manta ray swimming, the thrust force is generated by a couple of undulation and oscillation of wing, so that the direction of undulation wave and oscillation is upright and perpendicular to the direction of thrust force, respectively. It is possible to combine these two movement modes (flapping motion) on the three-dimensional model without considering the effects of wing twisting and flexibility to simplify and better understand the physical behaviors or special study of...