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2 Polish Maritime Research

2 2025

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Design and experiment of a Long Range Autonomous Underwater Vehicle for Ocean Acoustic Data Observation

Sun Qindong, Xu Shangfeng, Sun Tongshuai, Lu Faliang, Dong Pengfei, Chang Jiaqi

Polish Maritime Research

2025

nr 1

64--70

In order to realise noise measurement and target detection, this paper designs a long range autonomous underwater vehicle (LRAUV), namely ‘Petrel’, which contains a variable buoyancy system, attitude adjustment mechanisms, pitch and heading control planes, acoustic vector sensor (AVS) and a propeller. The variable buoyancy system can realise the adaptation of Petrel LRAUV to the density at different depths, thus reducing the useless work of overcoming buoyancy during sailing, and significantly increasing the range to 2,000 km. Furthermore, the Petrel LRAUV has four observation modes (gliding, cruising, station-keeping and drifting), which are driven by the synchronous movement of a variable buoyancy system, attitude adjustment mechanisms and a propeller. The results of long range sea trial missions demonstrate that the Petrel LRAUV could continuously monitor environmental parameters in the ocean, such as temperature, salinity, and ocean currents over several months. Besides, the outcomes of the passive target detection mission reveal that the vehicle, equipped with the AVS system, effectively tracked the bearing changes of the moving surface vessel.

Design, Analysis, and Testing of a Metamaterial Vibration Isolator for Hydrophone Equipped on Autonomous Underwater Vehicles

Yang Yuhan, Sun Qindong, Xu Shangfeng, Sun Tongshuai, Zhao Haitong, Yang Shaoqiong

Polish Maritime Research

2025

nr 1

121--128

The acoustic detection performance of hydrophones on the acoustic characteristics of targets is highly sensitive to external vibrations and noise interference. With the limitations of volume within autonomous underwater vehicles (AUVs) and highly corrosive ocean environments, the design of an embedded vibration isolator (VI) is needed so as to protect the hydrophones equipped on AUVs. To effectively isolate the low-frequency vibration produced by actuators on the AUV, such as the thruster, rudder, etc., this paper designs a VI for a hydrophone equipped on the AUV by using a metamaterial with quasi-zero stiffness (QZS) characteristics. This VI contains circumferential vibration-damping units, which improve the overall vibration damping effect through integration with the radial multi-stage damping layers. As a result, by utilising harmonic response analysis, the conformal design of eight circumferential units and two radial layers is optimised across all designs; its maximum vibration transmissibility is 56 dB at 500 Hz. Finally, the effectiveness of the QZS VI is verified through an experiment, which also shows a good match with the trend of the simulation results. This work also provides theoretical guidance for further study on the optimisation of phononic crystal mechanisms for vibration damping.