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Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration

This paper focuses on motion analysis of a coupled unmanned surface vehicle (USV)–umbilical cable (UC)–unmanned underwater vehicle (UUV) system to investigate the interaction behavior between the vehicles and the UC in the ocean environment. For this, a new dynamic modeling method for investigating...

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Autores principales: Vu, Mai The, Van, Mien, Bui, Duc Hong Phuc, Do, Quang Thang, Huynh, Tuan-Tu, Lee, Sang-Do, Choi, Hyeung-Sik
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7085663/
https://www.ncbi.nlm.nih.gov/pubmed/32121403
http://dx.doi.org/10.3390/s20051329
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author Vu, Mai The
Van, Mien
Bui, Duc Hong Phuc
Do, Quang Thang
Huynh, Tuan-Tu
Lee, Sang-Do
Choi, Hyeung-Sik
author_facet Vu, Mai The
Van, Mien
Bui, Duc Hong Phuc
Do, Quang Thang
Huynh, Tuan-Tu
Lee, Sang-Do
Choi, Hyeung-Sik
author_sort Vu, Mai The
collection PubMed
description This paper focuses on motion analysis of a coupled unmanned surface vehicle (USV)–umbilical cable (UC)–unmanned underwater vehicle (UUV) system to investigate the interaction behavior between the vehicles and the UC in the ocean environment. For this, a new dynamic modeling method for investigating a multi-body dynamics system of this coupling system is employed. Firstly, the structure and hardware composition of the proposed system are presented. The USV and UUV are modeled as rigid-body vehicles, and the flexible UC is discretized using the catenary equation. In order to solve the nonlinear coupled dynamics of the vehicles and flexible UC, the fourth-order Runge–Kutta numerical method is implemented. In modeling the flexible UC dynamics, the shooting method is applied to solve a two-point boundary value problem of the catenary equation. The interaction between the UC and the USV–UUV system is investigated through numerical simulations in the time domain. Through the computer simulation, the behavior of the coupled USV–UC–UUV system is analyzed for three situations which can occur. In particular, variation of the UC forces and moments at the tow points and the configuration of the UC in the water are investigated.
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spelling pubmed-70856632020-04-21 Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration Vu, Mai The Van, Mien Bui, Duc Hong Phuc Do, Quang Thang Huynh, Tuan-Tu Lee, Sang-Do Choi, Hyeung-Sik Sensors (Basel) Article This paper focuses on motion analysis of a coupled unmanned surface vehicle (USV)–umbilical cable (UC)–unmanned underwater vehicle (UUV) system to investigate the interaction behavior between the vehicles and the UC in the ocean environment. For this, a new dynamic modeling method for investigating a multi-body dynamics system of this coupling system is employed. Firstly, the structure and hardware composition of the proposed system are presented. The USV and UUV are modeled as rigid-body vehicles, and the flexible UC is discretized using the catenary equation. In order to solve the nonlinear coupled dynamics of the vehicles and flexible UC, the fourth-order Runge–Kutta numerical method is implemented. In modeling the flexible UC dynamics, the shooting method is applied to solve a two-point boundary value problem of the catenary equation. The interaction between the UC and the USV–UUV system is investigated through numerical simulations in the time domain. Through the computer simulation, the behavior of the coupled USV–UC–UUV system is analyzed for three situations which can occur. In particular, variation of the UC forces and moments at the tow points and the configuration of the UC in the water are investigated. MDPI 2020-02-29 /pmc/articles/PMC7085663/ /pubmed/32121403 http://dx.doi.org/10.3390/s20051329 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Vu, Mai The
Van, Mien
Bui, Duc Hong Phuc
Do, Quang Thang
Huynh, Tuan-Tu
Lee, Sang-Do
Choi, Hyeung-Sik
Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title_full Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title_fullStr Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title_full_unstemmed Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title_short Study on Dynamic Behavior of Unmanned Surface Vehicle-Linked Unmanned Underwater Vehicle System for Underwater Exploration
title_sort study on dynamic behavior of unmanned surface vehicle-linked unmanned underwater vehicle system for underwater exploration
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7085663/
https://www.ncbi.nlm.nih.gov/pubmed/32121403
http://dx.doi.org/10.3390/s20051329
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