DocumentCode :
2010536
Title :
Dynamic modeling of variable ballast tank for spherical underwater robot
Author :
Agrawal, Ankit ; Prasad, Binod ; Viswanathan, V. ; Panda, S.K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore
fYear :
2013
fDate :
25-28 Feb. 2013
Firstpage :
58
Lastpage :
63
Abstract :
Under-water exploration and surveillance requires a significant amount of onboard power for unmanned underwater vehicles (UUVs). The main focus of researchers and scientists is to design small, versatile UUVs, which can relax the power requirement onboard and hence increase the mission time. The paper proposes to develop a spherical underwater robot that can employ a docking or soft grounding behavior. To obtain this mechanism the spherical underwater robot should have the capability of self-ballast. By optimally positioning itself and sitting on the bottom, the spherical underwater robot can be placed in sleep mode, with only monitoring sensors awake, thereby harvesting power from the water current through dynamo based rotor blades. After the evaluation of different depth control strategies and research for commercially available UUVs, a concept was found by several comparisons. A diving system has been designed, built and implemented. Additionally, a dynamic model of the diving system has been developed and tested, allowing variable depth control. A Spherical Underwater Robot (SUR) is designed to perform test runs in a test pool. The development of the dynamic model is carried out by a simulation implemented in the MATLAB/Simulink software platform. Experimental test were conducted to validate the dynamic model.
Keywords :
autonomous underwater vehicles; blades; buoyancy; mobile robots; MATLAB/Simulink software platform; UUV; diving system dynamic model; docking behavior; dynamic modeling; dynamo based rotor blades; monitoring sensors; self-ballast; soft grounding behavior; spherical underwater robot; underwater exploration; underwater surveillance; unmanned underwater vehicles; variable ballast tank; variable depth control; water current power harvesting; Buoyancy; Electronic ballasts; Force; Mathematical model; Pistons; Robots; Underwater vehicles; UUV; ballast tank; variable buoyancy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Technology (ICIT), 2013 IEEE International Conference on
Conference_Location :
Cape Town
Print_ISBN :
978-1-4673-4567-5
Electronic_ISBN :
978-1-4673-4568-2
Type :
conf
DOI :
10.1109/ICIT.2013.6505648
Filename :
6505648
Link To Document :
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