Abstract Oceans have been a source of food and resources for life on Earth even before the advent of civilization. In recent years, reliance on the oceans has increased due to an increasing population on land, which has resulted in unabated and unsustainable ocean exploitation. While the oceans have been resilient so far and have allowed numerous misadventures of humanity, they have reached a tipping point in their resilience due to the extensive use of unsustainable means. One such area of exploitation is “deep seabed mining,” for which numerous studies have shown the expected impact on ocean life and the environment to be catastrophic. It is expected that the resulting impact can be substantially reduced by avoiding direct interaction of humans with the environment. This understanding has led to the development of numerous technologies in the field of robotics and autonomous vehicles.This technical note thus assesses the current and future use of robotics and autonomous underwater vehicles to achieve sustainability during the exploration phase of deep seabed mining.
{"title":"Using Robotics to Achieve Ocean Sustainability During the Exploration Phase of Deep Seabed Mining","authors":"N. Agarwala","doi":"10.4031/mtsj.57.1.15","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.15","url":null,"abstract":"Abstract Oceans have been a source of food and resources for life on Earth even before the advent of civilization. In recent years, reliance on the oceans has increased due to an increasing population on land, which has resulted in unabated and unsustainable ocean exploitation.\u0000 While the oceans have been resilient so far and have allowed numerous misadventures of humanity, they have reached a tipping point in their resilience due to the extensive use of unsustainable means. One such area of exploitation is “deep seabed mining,” for which numerous studies\u0000 have shown the expected impact on ocean life and the environment to be catastrophic. It is expected that the resulting impact can be substantially reduced by avoiding direct interaction of humans with the environment. This understanding has led to the development of numerous technologies in\u0000 the field of robotics and autonomous vehicles.This technical note thus assesses the current and future use of robotics and autonomous underwater vehicles to achieve sustainability during the exploration phase of deep seabed mining.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41751705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract We have analyzed the surface current characteristics along the coast of the Chinese mainland in autumn and winter by the trajectories of coastal drifters in a previous study (Yang et al., 2021). This paper is a follow-up study focusing on the surface current characteristics in spring. By the trajectories of coastal drifters in April‐May 2019, we continue to analyze the characteristics of surface currents. It is indicated that: (1) the surface currents were generally southwestward along the coasts of Zhejiang and Fujian, while they flowed northeastward in the offshore area in April 2019. (2) In May 2019, the surface current in the sea area north of 28°N had a small speed without a fixed direction nearshore, but had larger speed offshore. (3) The surface currents along the Zhejiang coast were variable in April‐May 2019, mainly corresponding to the change of wind field. (4) The coastal drifter is a useful instrument to observe circulation systems more precisely in nearshore but not deep ocean.
摘要在之前的一项研究中，我们通过沿海漂流者的轨迹分析了秋冬季节中国大陆沿海的地表流特征（Yang et al.，2021）。本文是对春季地表电流特性的后续研究。通过2019年4-5月沿海漂流者的轨迹，我们继续分析表面洋流的特征。结果表明：（1）2019年4月，浙江、福建沿海海流总体呈西南向，近海海流总体呈东北向。（2） 2019年5月，28°N以北海域的表层洋流在近岸没有固定方向的情况下速度较小，但在近海速度较大。（3） 2019年4月至5月，浙江沿海的地表洋流变化较大，主要与风场的变化相对应。（4） 海岸漂流器是一种有用的仪器，可以更准确地观察近海而非深海的环流系统。
{"title":"Surface Currents Along the Coast of the Chinese Mainland Observed by Coastal Drifters During April‐May 2019","authors":"Longqi Yang, Zhenyu Sun, Zhiyuan Hu, Zhida Huang, Zhaozhang Chen, Jia Zhu, Jianyu Hu","doi":"10.4031/mtsj.57.1.16","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.16","url":null,"abstract":"Abstract We have analyzed the surface current characteristics along the coast of the Chinese mainland in autumn and winter by the trajectories of coastal drifters in a previous study (Yang et al., 2021). This paper is a follow-up study focusing on the surface current characteristics\u0000 in spring. By the trajectories of coastal drifters in April‐May 2019, we continue to analyze the characteristics of surface currents. It is indicated that: (1) the surface currents were generally southwestward along the coasts of Zhejiang and Fujian, while they flowed northeastward\u0000 in the offshore area in April 2019. (2) In May 2019, the surface current in the sea area north of 28°N had a small speed without a fixed direction nearshore, but had larger speed offshore. (3) The surface currents along the Zhejiang coast were variable in April‐May 2019, mainly\u0000 corresponding to the change of wind field. (4) The coastal drifter is a useful instrument to observe circulation systems more precisely in nearshore but not deep ocean.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43934186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract A novel vertical axis underwater current power dual turbine that extracts power from flowing water bodies of low velocities (0.5 m/s or less) is presented. It has now a further innovation of a dual turbine and hybrid system that provides a solar panel roof over the underwater current power turbine (UCPT) platform to enable the system to extract power from both solar and underwater current. The hull of the UCPT was built using Glass-Fiber Reinforced (GFR) instead of steel material. The use of GFR reduced the hull's weight by 50% compared to the steel made. The installation of the UCPT in Imo River in Nigeria demonstrated that the UCPT has 99% efficiency in converting the water flow hydraulic power to mechanical power. The model was scaled to a product of 5.7 kW underwater power generating platform that provides addition integrate-able solar power of 25kW capacity. It is further demonstrated that satellite model development of the UCPT can be made to generate 150 kW and more depending on the number of the installed UCPT.
{"title":"Hybridized Vertical-Axis Underwater Current Power Turbine System Suitable for Low Underwater Current Velocities: A Report of Its Application and Potential in Imo River, Nigeria","authors":"J. Agbakwuru, Sani Nicolas Arome","doi":"10.4031/mtsj.57.1.12","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.12","url":null,"abstract":"Abstract A novel vertical axis underwater current power dual turbine that extracts power from flowing water bodies of low velocities (0.5 m/s or less) is presented. It has now a further innovation of a dual turbine and hybrid system that provides a solar panel roof over the\u0000 underwater current power turbine (UCPT) platform to enable the system to extract power from both solar and underwater current. The hull of the UCPT was built using Glass-Fiber Reinforced (GFR) instead of steel material. The use of GFR reduced the hull's weight by 50% compared to the steel\u0000 made. The installation of the UCPT in Imo River in Nigeria demonstrated that the UCPT has 99% efficiency in converting the water flow hydraulic power to mechanical power. The model was scaled to a product of 5.7 kW underwater power generating platform that provides addition integrate-able\u0000 solar power of 25kW capacity. It is further demonstrated that satellite model development of the UCPT can be made to generate 150 kW and more depending on the number of the installed UCPT.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47410473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wei Wang, Xueyu Ren, Jia-wang Chen, Xiaoqin Peng, Jin Guo, Ying Wang, Yuan Lin
Abstract Since the temperature between 1,000 m and 11,000 m below the sea surface is between 2‐8°C, a thermal insulation measure is needed when taking samples of the deep sea to obtain the in-situ properties from the samples more accurately in laboratory tests. Most of the current deep-sea thermal insulation sampling devices use passive thermal insulation, and the thermal insulation effect of adding thermal insulation coating, vacuuming, and exterior coating thermal insulation materials in the sample device is not ideal. This study uses a Thermoelectric Cooler (TEC) to cool active heat preservation equipment. TEC has the characteristics of light weight, small size, rapid response, and cool high efficiency. The device has carried out a series of preliminary experiments in the laboratory, which shows that the temperature can be kept between 2‐4°C. Through experimental verification, it is found that this thermal insulation system can maintain the temperature of the sample chamber well. The device can be mounted on various underwater robots and landers to provide technical and equipment support for marine scientific research.
{"title":"Research on an Active Heat Insulation Device for the Hadal Sample","authors":"Wei Wang, Xueyu Ren, Jia-wang Chen, Xiaoqin Peng, Jin Guo, Ying Wang, Yuan Lin","doi":"10.4031/mtsj.57.1.8","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.8","url":null,"abstract":"Abstract Since the temperature between 1,000 m and 11,000 m below the sea surface is between 2‐8°C, a thermal insulation measure is needed when taking samples of the deep sea to obtain the in-situ properties from the samples more accurately in laboratory tests.\u0000 Most of the current deep-sea thermal insulation sampling devices use passive thermal insulation, and the thermal insulation effect of adding thermal insulation coating, vacuuming, and exterior coating thermal insulation materials in the sample device is not ideal. This study uses a Thermoelectric\u0000 Cooler (TEC) to cool active heat preservation equipment. TEC has the characteristics of light weight, small size, rapid response, and cool high efficiency. The device has carried out a series of preliminary experiments in the laboratory, which shows that the temperature can be kept between\u0000 2‐4°C. Through experimental verification, it is found that this thermal insulation system can maintain the temperature of the sample chamber well. The device can be mounted on various underwater robots and landers to provide technical and equipment support for marine scientific\u0000 research.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45484215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ashwin Vadlamannati, Dillon Herbert, Kartik Naik, S. Bryant, Mariah Mook, Zak Leonard, Andrew D. Abney, Sumedh Beknalkar, M. Bryant, C. Vermillion, Kenneth Granlund, A. Mazzoleni
Abstract The immense potential for ocean current energy harvesting is being actively explored as the push for renewable energy becomes more urgent. This paper demonstrates a tow testing platform built to examine and validate mathematical models related to the performance of tethered, underwater, hydrokinetic devices in development to harvest energy from ocean currents, and presents experimental results illustrating how such a system can be used. The platform has been modularly designed to allow for the testing of various tethered, underwater energy-generation systems, including kite-based systems, coaxial turbines, and duct sails. Previous research on tethered energy-generating systems has primarily been focused on airborne systems. Additionally, the limited experimental research on tethered, underwater energy-generation systems has relied on a rigid rod for mechanical and electrical connections between the test articles and instrumentation. The tow testing platform presented in this paper accomplishes the mechanical and electrical connection through a dual-function tether, featuring internal conductors and an external sheath to support towing loads. The goal of this platform was to enable the emulation of ocean currents, which are largely unidirectional, and to retrofit a regular pool into a cost-effective, adaptable, small-scale tow tank test bed. The capabilities of the system include two-way communication with tethered devices, multiple towing profiles in order to emulate different flow regimes, real-time control, and differential velocities via dual winch operation.
{"title":"Pool-Based Tow System for Testing Tethered Hydrokinetic Devices Being Developed to Harvest Energy From Ocean Currents","authors":"Ashwin Vadlamannati, Dillon Herbert, Kartik Naik, S. Bryant, Mariah Mook, Zak Leonard, Andrew D. Abney, Sumedh Beknalkar, M. Bryant, C. Vermillion, Kenneth Granlund, A. Mazzoleni","doi":"10.4031/mtsj.57.1.11","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.11","url":null,"abstract":"Abstract The immense potential for ocean current energy harvesting is being actively explored as the push for renewable energy becomes more urgent. This paper demonstrates a tow testing platform built to examine and validate mathematical models related to the performance\u0000 of tethered, underwater, hydrokinetic devices in development to harvest energy from ocean currents, and presents experimental results illustrating how such a system can be used. The platform has been modularly designed to allow for the testing of various tethered, underwater energy-generation\u0000 systems, including kite-based systems, coaxial turbines, and duct sails. Previous research on tethered energy-generating systems has primarily been focused on airborne systems. Additionally, the limited experimental research on tethered, underwater energy-generation systems has relied on a\u0000 rigid rod for mechanical and electrical connections between the test articles and instrumentation. The tow testing platform presented in this paper accomplishes the mechanical and electrical connection through a dual-function tether, featuring internal conductors and an external sheath to\u0000 support towing loads. The goal of this platform was to enable the emulation of ocean currents, which are largely unidirectional, and to retrofit a regular pool into a cost-effective, adaptable, small-scale tow tank test bed. The capabilities of the system include two-way communication with\u0000 tethered devices, multiple towing profiles in order to emulate different flow regimes, real-time control, and differential velocities via dual winch operation.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41602563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This paper represents the effects of geometry and design of an oscillating water column energy converter air chamber on the airflow response. The primary goal of this research is to use different shapes of air chambers, such as rectangular, cylindrical, and conical air chambers with varying cross sections, to optimize the air velocity entering the turbine, to obtain the maximum power available in a progressive wave with a constant period and wavelength. Modeling and numericalsimulation are performed by using the commercial software ANSYS. Since this paper is concerned with the effect of air flow velocity, a vent is located at the chamber's outlet rather than a turbine. In order to obtain the exit air velocity results, the wave system air characteristics results are applied as an input air flowfor three air chamber cases. The results show that the air velocity flow increasedsignificantly from 7.14 m/s in the rectangular air chamber to 10.4 m/s in cylindrical air chamber and reached a maximum of 14.2 m/s in the conical airchamber.
{"title":"The Effect of Air Chamber Geometrical Design for Enhancing the Output Power of Oscillating Water Column Wave Energy Converter","authors":"Mamdouh Elmallah, M. Elgohary, M. Shouman","doi":"10.4031/mtsj.57.1.14","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.14","url":null,"abstract":"Abstract This paper represents the effects of geometry and design of an oscillating water column energy converter air chamber on the airflow response. The primary goal of this research is to use different shapes of air chambers, such as rectangular, cylindrical, and conical\u0000 air chambers with varying cross sections, to optimize the air velocity entering the turbine, to obtain the maximum power available in a progressive wave with a constant period and wavelength. Modeling and numericalsimulation are performed by using the commercial software ANSYS. Since this\u0000 paper is concerned with the effect of air flow velocity, a vent is located at the chamber's outlet rather than a turbine. In order to obtain the exit air velocity results, the wave system air characteristics results are applied as an input air flowfor three air chamber cases. The results show\u0000 that the air velocity flow increasedsignificantly from 7.14 m/s in the rectangular air chamber to 10.4 m/s in cylindrical air chamber and reached a maximum of 14.2 m/s in the conical airchamber.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44404771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tomoko Bell, T. Endo, J. Jenson, M. Lander, K. Bautista
Abstract To extract meter-length, large-diameter cores from live massive corals on shallow reefs we developed a versatile underwater pneumatic drill driven by a portable gasoline-powered air compressor carried onboard a small boat. This drill was used to obtain intact cores 8.0 cm in diameter and 0.5‐1.5 m long from Guam's coastal waters. Advantages of this pneumatic drill over standard hydraulic drills include (1) lower cost; (2) easier portability; (3) more stable, safer, and faster drilling; and (4) elimination of the need to carry and use hydraulic fluid on the coral reef. The pivotal innovation in the application of pneumatic technology was use of an air motor rather than a conventional handheld pneumatic drill. Another significant innovation was employment of a pneumatic water pump to provide a continuous flow that purges debris from the borehole and the cutting edge of the diamond drill bit. This drill can provide paleo-climate researchers and others interested in retrieving high-quality coral core samples with a reliable, economical, easy to operate, safe, and environmentally friendly alternative to more expensive and cumbersome hydraulic drills.
{"title":"Pneumatic Underwater Coral-Coring Drill","authors":"Tomoko Bell, T. Endo, J. Jenson, M. Lander, K. Bautista","doi":"10.4031/mtsj.57.1.1","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.1","url":null,"abstract":"Abstract To extract meter-length, large-diameter cores from live massive corals on shallow reefs we developed a versatile underwater pneumatic drill driven by a portable gasoline-powered air compressor carried onboard a small boat. This drill was used to obtain intact cores\u0000 8.0 cm in diameter and 0.5‐1.5 m long from Guam's coastal waters. Advantages of this pneumatic drill over standard hydraulic drills include (1) lower cost; (2) easier portability; (3) more stable, safer, and faster drilling; and (4) elimination of the need to carry and use hydraulic\u0000 fluid on the coral reef. The pivotal innovation in the application of pneumatic technology was use of an air motor rather than a conventional handheld pneumatic drill. Another significant innovation was employment of a pneumatic water pump to provide a continuous flow that purges debris from\u0000 the borehole and the cutting edge of the diamond drill bit. This drill can provide paleo-climate researchers and others interested in retrieving high-quality coral core samples with a reliable, economical, easy to operate, safe, and environmentally friendly alternative to more expensive and\u0000 cumbersome hydraulic drills.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45555676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract An underwater manipulator is one of the most commonly used tools in offshore operations. In the face of the unknown environment of the deep sea and the uncertainty of the operation target, the underwater manipulator needs good control stability and higher control efficiency to prevent accidents, which puts forward higher requirements for the control of the manipulator. Underwater manipulators often need to work under heavy loads and to perform tasks efficiently under light loads, which is crucial for efficient control under load. In this paper, a control algorithm based on proportion and derivative feedback control for an all sea depth load proportional hydraulic manipulator is proposed. The feasibility and progressiveness of this algorithm are verified by building kinematic and dynamic models, building physical platforms for tests, and building sea trial acceptance.
{"title":"Research on the Control Algorithm of Full Sea Heavy Load Proportional Seven-Function Hydraulic Manipulator Based on Load Sensing","authors":"Xiaoqin Peng, Jiawang Chen, Qixiao Zhou, Zhangyong Jin, Xueyu Ren, Wendi Dai, Congchi Huang","doi":"10.4031/mtsj.57.1.13","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.13","url":null,"abstract":"Abstract An underwater manipulator is one of the most commonly used tools in offshore operations. In the face of the unknown environment of the deep sea and the uncertainty of the operation target, the underwater manipulator needs good control stability and higher control\u0000 efficiency to prevent accidents, which puts forward higher requirements for the control of the manipulator. Underwater manipulators often need to work under heavy loads and to perform tasks efficiently under light loads, which is crucial for efficient control under load. In this paper, a control\u0000 algorithm based on proportion and derivative feedback control for an all sea depth load proportional hydraulic manipulator is proposed. The feasibility and progressiveness of this algorithm are verified by building kinematic and dynamic models, building physical platforms for tests, and building\u0000 sea trial acceptance.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45231212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
S. Shaik, Bala Naga Jyothi Vandavasi, Vedachalam Narayanaswamy, H. Venkataraman
Abstract Autonomous underwater vehicles (AUVs) have gained enormous popularity over the years and are employed extensively in various industries, including bio-research, subsea industries, and military applications. Most of the available commercial AUVs are very expensive and complex. This makes it unsuitable to be used for civilian applications. On the other hand, recent technological advancements have made it possible to have highly capable sensors at acceptable prices as an alternative to expensive commercial vehicles. In this paper, an embedded system-based multi-sensor hardware architecture for an H-configured AUV, called H-AUV, is designed and developed with low-cost, power-efficient, real-time controllers with a small footprint for data acquisition and sensors. These parameters play an important role for designing and developing energy-efficient autonomous vehicles. Significantly, auto navigation is a very important mechanism for AUVs, which includes auto heading control and depth keeping control techniques developed, deployed, and tested in the H-AUV. Additionally, the denoise filters such as moving average, exponential, and dynamic linear Kalman filter (KF) have been exercised and validated for heading and depth control of an H-AUV. It was found that the dynamic KF is very efficient and performs with 88% accuracy in the heading and depth control mechanisms. The KF is also found to perform with 98% accuracy for surface navigation of the H-AUV. Finally, an indigenous graphical user interface has been developed for data telemetry, command, and logging in autonomous and manual modes through wired and wireless communication. The proposed development and validation of an efficient and low-cost H-AUV shall support academic researchers for subsea applications.
{"title":"Development and Validation of Embedded System Architecture for Shallow-Water Based H-AUV","authors":"S. Shaik, Bala Naga Jyothi Vandavasi, Vedachalam Narayanaswamy, H. Venkataraman","doi":"10.4031/mtsj.57.1.17","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.17","url":null,"abstract":"Abstract Autonomous underwater vehicles (AUVs) have gained enormous popularity over the years and are employed extensively in various industries, including bio-research, subsea industries, and military applications. Most of the available commercial AUVs are very expensive\u0000 and complex. This makes it unsuitable to be used for civilian applications. On the other hand, recent technological advancements have made it possible to have highly capable sensors at acceptable prices as an alternative to expensive commercial vehicles. In this paper, an embedded system-based\u0000 multi-sensor hardware architecture for an H-configured AUV, called H-AUV, is designed and developed with low-cost, power-efficient, real-time controllers with a small footprint for data acquisition and sensors. These parameters play an important role for designing and developing energy-efficient\u0000 autonomous vehicles. Significantly, auto navigation is a very important mechanism for AUVs, which includes auto heading control and depth keeping control techniques developed, deployed, and tested in the H-AUV. Additionally, the denoise filters such as moving average, exponential, and dynamic\u0000 linear Kalman filter (KF) have been exercised and validated for heading and depth control of an H-AUV. It was found that the dynamic KF is very efficient and performs with 88% accuracy in the heading and depth control mechanisms. The KF is also found to perform with 98% accuracy for surface\u0000 navigation of the H-AUV. Finally, an indigenous graphical user interface has been developed for data telemetry, command, and logging in autonomous and manual modes through wired and wireless communication. The proposed development and validation of an efficient and low-cost H-AUV shall support\u0000 academic researchers for subsea applications.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47335329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract In this study, a sediment isobaric transfer device based on the principle of volume displacement was built, and the work process of the device was explained. A physical model was built in hydraulic analysis software AMESim to simulate the actual working conditions. The influences of pre-charge pressure and volume of accumulator, diameter, and length of the hydraulic pipeline and opening pressure of safety valve on the pressure fluctuation and pressure steady-time during transfer process were studied. The transfer system was optimally designed based on the results of parametric analysis. The sea trial verified that the system could transfer sediment with a pressure exceeding 90 MPa into a culture vessel with low-pressure fluctuating pressure.
{"title":"Research on the Isobaric Transfer Method and Device for Sediment of Full-Ocean Depth","authors":"Qixiao Zhou, Hao Wang, Peihao Zhang, Qiaoling Gao, Haonan Li, Jia-wang Chen","doi":"10.4031/mtsj.57.1.7","DOIUrl":"https://doi.org/10.4031/mtsj.57.1.7","url":null,"abstract":"Abstract In this study, a sediment isobaric transfer device based on the principle of volume displacement was built, and the work process of the device was explained. A physical model was built in hydraulic analysis software AMESim to simulate the actual working conditions.\u0000 The influences of pre-charge pressure and volume of accumulator, diameter, and length of the hydraulic pipeline and opening pressure of safety valve on the pressure fluctuation and pressure steady-time during transfer process were studied. The transfer system was optimally designed based on\u0000 the results of parametric analysis. The sea trial verified that the system could transfer sediment with a pressure exceeding 90 MPa into a culture vessel with low-pressure fluctuating pressure.","PeriodicalId":49878,"journal":{"name":"Marine Technology Society Journal","volume":" ","pages":""},"PeriodicalIF":0.8,"publicationDate":"2023-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42321764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：