Development of Low Cost Autonomous Underwater Vehicle Platform

Hassanein, Osama; Sreenatha, G.; Aboobacker, S.; Ali, Shaaban

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Development of Low Cost Autonomous Underwater Vehicle Platform

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15. Juli 2021

International Journal on Smart Sensing and Intelligent Systems

Band 14 (2021): Heft 1 (Januar 2021)

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Online veröffentlicht: 15. Juli 2021

Seitenbereich: 1 - 22

Eingereicht: 27. Dez. 2020

DOI: https://doi.org/10.21307/ijssis-2021-005

Schlüsselwörter
Underwater vehicle, Autonomous, Modeling, AUV modeling, System integration

© 2021 Osama Hassanein et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Block diagram of various stages of project.

UNSW Autonomous Underwater Vehicle platform (Hassanein et al., 2011).

Forward thruster with electrical motor driver.

Submersible bilge pump with the motor driver.

Burst read sequence (ADIS16367 Data Sheet).

Depth measurement accuracy from water pressure sensor.

Body-fixed and earth-fixed coordinate system (Hassanein et al., 2013).

Pitch input response in AUV translational and orientational movement.

Yaw input response in translational and orientational movement.

UNSW Canberra AUV during experimental teat data collection.

1st set of AUV control based fuzzy experimental results: coupled dynamics.

2nd set of AUV control based HNFN experimental results: coupled dynamics.

Specifications of AUV model_

Parameter	Calculated value	Unit	Parameter	Calculated value	Unit
Mass of the AUV	10.4102	Kg	CG (original)	[‒10.7498‒3.49512428.206]	mm
Payload capacity	21.1408	Kg	Total length (L)	1.064	m
Mass of AUV + Payload	31.551	Kg	Diameter (d)	0.250	m
Ix	0.6384	Kg.m²	Speed	1	m/s
Iy	6.4110	Kg.m²	$ρ$	1000	Kg/m³
Iz	6.4110	Kg.m²	BC	[0 0 0]	m
CG	[0 0 0]	m	BC(original)	[0 0 21.306]	mm

Hydrodynamic coefficient of UNSW Canberra AUV model_

Parameter	Calculated value	Unit	Parameter	Calculated value	Unit
$X_{u \| u}$	‒7.365	Kg/m	$X_{u}$	‒2.12	Kg/sec
$X_{v \| v}$	‒0.737	Kg/m	$X_{v}$	‒0.31	Kg/sec
$X_{w \| w}$	‒0.737	Kg/m	$X_{w}$	‒0.31	Kg/sec
$X_{q \| q}$	‒1.065	Kg.m/rad	$X_{q}$	‒0.51	Kg.m/sec
$X_{r \| r}$	‒1.065	Kg.m/rad	$X_{r}$	‒0.51	Kg.m/sec
$Y_{v \| v}$	‒112.2	Kg/m	$Y_{v}$	‒62.45	Kg/sec
$Y_{r \| r}$	0.250	Kg.m/rad	$Y_{r}$	0.12	Kg.m/sec
$Z_{w \| w}$	‒112.2	Kg/m	$Z_{w}$	‒62.45	Kg/sec
$Z_{q \| q}$	‒0.250	Kg.m/rad	$Z_{q}$	0.12	Kg.m/sec
$K_{p \| p}$	‒0.5975	Kg.m²/rad2	$K_{p}$	‒0.3125	Kg.m²/sec
$M_{w \| w}$	2.244	Kg.m/rad	$M_{w}$	1.2	Kg.m/sec
$M_{q \| q}$	‒119.5	Kg.m²/rad2	$M_{q}$	‒59.75	Kg.m²/sec
$N_{v \| v}$	‒2.244	Kg.m/rad	$N_{v}$	1.2	Kg.m/sec
$N_{r \| r}$	‒59.75	Kg.m²/rad2	$N_{r}$	‒31.25	Kg.m²/sec
$X_{\dot{u}}$	‒1.17	Kg	$K_{\dot{p}}$	0	Kg.m/rad
$Y_{\dot{v}}$	‒34.834	Kg	$M_{\dot{w}}$	‒1.042	Kg.m/rad
$Y_{\dot{r}}$	1.042	Kg.m/rad	$M_{\dot{q}}$	‒2.659	Kg.m/rad
$Z_{\dot{w}}$	‒34.834	Kg	$N_{\dot{v}}$	‒1.042	Kg.m/rad
$Z_{\dot{q}}$	‒1.042	Kg.m/rad	$N_{\dot{r}}$	‒2.659	Kg.m/rad

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Development of Low Cost Autonomous Underwater Vehicle Platform

Online veröffentlicht: 15. Juli 2021

Seitenbereich: 1 - 22

Eingereicht: 27. Dez. 2020

DOI: https://doi.org/10.21307/ijssis-2021-005

Schlüsselwörter
Underwater vehicle, Autonomous, Modeling, AUV modeling, System integration

© 2021 Osama Hassanein et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Specifications of AUV model_

Hydrodynamic coefficient of UNSW Canberra AUV model_

Development of Low Cost Autonomous Underwater Vehicle Platform

Osama Hassanein

G. Sreenatha

S. Aboobacker

Shaaban Ali

Online veröffentlicht: 15. Juli 2021

Seitenbereich: 1 - 22

Eingereicht: 27. Dez. 2020

DOI: https://doi.org/10.21307/ijssis-2021-005

SchlüsselwörterUnderwater vehicle, Autonomous, Modeling, AUV modeling, System integration

© 2021 Osama Hassanein et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Figure 26:

Specifications of AUV model_

Hydrodynamic coefficient of UNSW Canberra AUV model_

Schlüsselwörter
Underwater vehicle, Autonomous, Modeling, AUV modeling, System integration