Cargando…
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...
Autores principales: | , , , , , , |
---|---|
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 |
_version_ | 1783508983737221120 |
---|---|
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. |
format | Online Article Text |
id | pubmed-7085663 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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 |
work_keys_str_mv | AT vumaithe studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT vanmien studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT buiduchongphuc studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT doquangthang studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT huynhtuantu studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT leesangdo studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration AT choihyeungsik studyondynamicbehaviorofunmannedsurfacevehiclelinkedunmannedunderwatervehiclesystemforunderwaterexploration |