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Trajectory Tracking Control of Autonomous Underwater Vehicle Called PAST

Szymak Piotr, Kot Rafał

Pomiary Automatyka Robotyka

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2022

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R. 26, nr 3

17--22

EN

The increasing development of Autonomous Underwater Vehicles (AUVs) with varying levels of autonomy can be seen globally. The paper is devoted to the new AUV called PAST being developed and built within the Polish development project entitled „Development of the underwater autonomous transport system” (no. POIR.01.01.01-00-0893/20). Mainly, the paper focuses on high-level control of PAST AUV devoted to controlling along the desired trajectory. It demands a set of tuned controllers of advanced velocity, course, depth, and trim. The trajectory tracking algorithm should be implemented and verified for different trajectories set in practice. At the beginning of the article, an introduction to the research is inserted. Then, the following scientific issues are presented: the mathematical model of AUV motion, high-level control structure, and the trajectory tracking algorithm. Next, the results of numerical research in the Matlab environment are presented. In the end, the conclusions for future research are formulated.

PL

Na całym świecie można zaobserwować rosnący rozwój autonomicznych pojazdów podwodnych (AUV) o różnych poziomach autonomii. Artykuł poświęcony jest opracowywaniu i budowie nowego AUV o nazwie PAST w ramach polskiego projektu rozwojowego pt. „Rozwój podwodnego autonomicznego systemu transportowego” (nr POIR.01.01.01-00-0893/20). Artykuł koncentruje się głównie na wysokopoziomowym sterowaniu pojazdem PAST przeznaczonym do podążania wzdłuż pożądanej trajektorii. Wymaga to zaawansowanego zestawu dostrojonych kontrolerów prędkości, kursu, głębokości i trymu. Algorytm śledzenia trajektorii powinien być zaimplementowany i zweryfikowany dla różnych trajektorii wyznaczanych w praktyce. Na początku artykułu zamieszczone zostało wprowadzenie do badań. Następnie przedstawiono następujące zagadnienia naukowe: model matematyczny ruchu AUV, wysokopoziomową strukturę sterowania oraz algorytm śledzenia trajektorii. Następnie przedstawiono wyniki badań numerycznych w środowisku MATLAB. Na koniec formułowane są wnioski dla przyszłych badań.

2

Parameters identification of the flexible fin kinematics model using vision and Genetic Algorithms

Jurczyk Karolina, Piskur Paweł, Szymak Piotr

Polish Maritime Research

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2020

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nr 2

39--47

EN

Recently a new type of autonomous underwater vehicle uses artificial fins to imitate the movements of marine animals, e.g. fish. These vehicles are biomimetic and their driving system is an undulating propulsion. There are two main methods of reproducing undulating motion. The first method uses a flexible tail fin, which is connected to a rigid hull by a movable axis. The second method is based on the synchronised operation of several mechanical joints to imitate the tail movement that can be observed among real marine animals such as fish. This paper will examine the first method of reproducing tail fin movement. The goal of the research presented in the paper is to identify the parameters of the one-piece flexible fin kinematics model. The model needs further analysis, e.g. using it with Computational Fluid Dynamics (CFD) in order to select the most suitable prototype for a Biomimetic Underwater Vehicle (BUV). The background of the work is explained in the first section of the paper and the kinematic model for the flexible fin is described in the next section. The following section is entitled Materials and Methods, and includes a description of a laboratory test of a water tunnel, a description of a Vision Algorithm (VA)which was used to determine the positions of the fin, and a Genetic Algorithm (GA) which was used to find the parameters of the kinematic fin. In the next section, the results of the research are presented and discussed. At the end of the paper, the summary including main conclusions and a schedule of the future research is inserted.

3

Influence of fin’s material capabilities on the propulsion system of biomimetic underwater vehicle

Piskur Pawel, Szymak Piotr, Kitowski Zygmunt, Flis Leszek

Polish Maritime Research

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2020

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nr 4

179--185

EN

The technology of Autonomous Underwater Vehicles (AUVs) is developing in two main directions focusing on improving autonomy and improving construction, especially driving and power supply systems. The new Biomimetic Underwater Vehicles (BUVs) are equipped with the innovative, energy efficient driving system consisting of artificial fins. Because these driving systems are not well developed yet, there are great possibilities to optimize them, e.g. in the field of materials. The article provides an analysis of the propulsion force of the fin as a function of the characteristics of the material from which it is made. The parameters of different materials were used for the fin design and their comparison. The material used in our research was tested in a laboratory to determine the Young’s modulus. For simplicity, the same fin geometry (the length and the height) was used for each type of fin. The Euler–Bernoulli beam theory was applied for estimation of the fluid–structure interaction. This article presents the laboratory test stand and the results of the experiments. The laboratory water tunnel was equipped with specialized sensors for force measurements and fluid–structure interaction analysis. The fin deflection is mathematically described, and the relationship between fin flexibility and the generated driving force is discussed.

4

Method for assessing the dynamics and efficiency of diving fins

Grządziela Andrzej, Szymak Piotr, Piskur Paweł

Acta of Bioengineering and Biomechanics

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2020

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Vol. 22, no. 4

139--150

EN

This article presents a method for an evaluation of the dynamic ability and efficiency of diving fins. There is paucity in the literature on the process of selecting optimal fins. As a result, there are efforts made to develop a methodology for selecting fins that meet the proposed criteria. In the present study, an analysis on the two types of fins most popular within the commercial market was conducted. The experiment took place in a test water tunnel fully equipped with a measuring system and strain gauges for recording forced interaction between the moving fin and flowing water. The tested fins rested on an artificial leg, which moved respectively, thereby developing movement algorithms. This forced fluid flow was implemented by a pump that was able to control the fluids velocity, and a non-invasive method involving an ultrasonic flow meter was used to measure the fluids velocity. Finally, the fin efficiency was calculated as the ratio of multiplication of generated thrust to electrical energy consumption whilst also considering the mechanical efficiency of the leg manipulator. The results of these experiments are discussed in depth and a method is created for the subsequent stage in which a new type of fins called biomimetic is to be analyzed and compared.

5

Projekt architektury programowej autonomicznego biomimetycznego pojazdu podwodnego przeznaczonego do zadań rozpoznawania podwodnego

Praczyk Tomasz, Szymak Piotr

Modern Engineering

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2017

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1

1--11

PL

Artykuł przedstawia projekt architektury programowej autonomicznego biomimetycznego pojazdu podwodnego (ABPP) przeznaczonego do zadań rozpoznania podwodnego. Pojazd ten jest przedmiotem badań w ramach projektu finansowanego przez Narodowe Centrum Badań i Rozwoju. Dwie cechy czynią ten pojazd unikatowym w warunkach polskich, są nimi, po pierwsze –autonomiczność, a po drugie –biomimetyczność czyli podobieństwo do żywych przedstawicieli środowiska morskiego. Całkowita nowość technologii opracowywanej w ramach projektu czyni konstrukcję pojazdu w tym jego oprogramowania dużym wyzwaniem. Proponowana w artykule architektura oprogramowania zakłada jego elastyczność oraz skalowalność.

EN

The paper presents the project of software architecture for autonomous biomimetic underwater vehicle dedicated for underwater reconnaissance tasks. The vehicle is build within the framework of the national project funded by National Center for Research and Development. Two features make this vehicle unique in Poland, that is, autonomy, and resemblance to living organisms of sea environment. The project presented in the paper provides for easy expansion and modification of the vehicle control system with new sensors and autonomous behaviors.