Related papers: The hydrodynamic characteristics of Autonomous Und…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
This article presents experimental and numerical studies on the effect of free stream turbulence on evolution of flow over an autonomous underwater vehicle (AUV) hull form at three Reynolds numbers with different submergence depths and…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
This work assesses the hydrodynamic efficiency of Underwater Unmanned Vehicles (UUVs) equipped with soft morphing wings compared to conventional rigid wings. Unlike rigid wings, deformable counterparts can alter their aerodynamic properties…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
Autonomous underwater vehicles (AUV) have a wide variety of applications in the marine domain, including exploration, surveying, and mapping. Their navigation systems rely heavily on fusing data from inertial sensors and a Doppler velocity…
We examine the fluid flow forced by precession of a rotating cylindrical container using numerical simulations and experimental flow measurements with ultrasonic Doppler velocimetry (UDV). The analysis is based on the decomposition of the…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…
In Autonomous Underwater Vehicles (AUVs) design, hull resistance is an important factor in determining the power requirements and range of vehicle and consequently affect battery size, weight, and volume requirement of the design. In this…
Climate change has increased the frequency and severity of extreme weather events such as hurricanes and winter storms. The complex interplay of floods with tides, runoff, and sediment creates additional hazards -- including erosion and the…
The rotational dynamics of anisotropic particles advected in a turbulent fluid flow are important in many industrial and natural setting. Particle rotations are controlled by small scale properties of turbulence that are nearly universal,…
Autonomous underwater vehicles (AUVs) are regularly used for deep ocean applications. Commonly, the autonomous navigation task is carried out by a fusion between two sensors: the inertial navigation system and the Doppler velocity log…