Depth control for biomimetic and hybrid unmanned underwater vehicles

• Autorzy: Morawski Marcin , Talarczyk Tomasz , Malec Marcin

Identyfikatory

DOI

10.37705/TechTrans/e2021024

• Języki publikacji: EN

Abstrakty

EN

Unmanned underwater vehicles which use biomimetic mechanisms are becoming increasingly useful in the realisation of tasks requiring silent and efficient propulsion. Complex fish kinematics are simplified to some extent and implemented in such vehicles. One of the essential fish behaviours is their ability to adjust their buoyancy using a swim bladder. This paper covers the issues concerning the implementation of artificial swim bladders as well as depth regulators in two underwater vehicles: biomimetic and hybrid. The control of vehicle depth through buoyancy change was examined in the computer simulation and in the experiment. Two types of artificial swim bladder were tested – a rigid cylinder with a piston and an elastic container with a water pump.

Słowa kluczowe

EN

biomimetic underwater vehicle; BUUV; hybrid underwater vehicle; HUUV; depth control; artificial swim bladder

PL

biomimetyczny pojazd podwodny; hybrydowy pojazd podwodny; kontrola głębokości; sztuczny pęcherz pływacki

• Wydawca: Wydawnictwo Politechniki Krakowskiej im. Tadeusza Kościuszki
• Czasopismo: Technical Transactions
• Rocznik: 2021
• Tom: Vol. 118, iss. 1
• Strony: art. no. e2021024
• Opis fizyczny: Bibliogr.13 poz., il., wz., tab., wykr.

Twórcy

autor

Morawski Marcin

• Chair of Production Engineering, Faculty of Mechanical Engineering, Cracow University of Technology

autor

Talarczyk Tomasz

• Chair of Production Engineering, Faculty of Mechanical Engineering, Cracow University of Technology

autor

Malec Marcin

• Chair of Production Engineering, Faculty of Mechanical Engineering, Cracow University of Technology

Bibliografia

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