Autonomous Underwater Vehicle (AUV)

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This is my second presentation, which is about the design and control of an AUV depending on the dynamics analysis.

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Autonomous Underwater Vehicle (AUV)

  1. 1. Design and Control of A Surveying AUV<br />By:<br />Ahmed El Sheikh<br />MSc Student, Mechatronics and Robotics Engineering,<br />E-JUST 2010<br />
  2. 2. Overview<br /><ul><li>Background
  3. 3. The Objective
  4. 4. Dynamics and Modeling of The AUV
  5. 5. Control of the AUV
  6. 6. Fabrication of The AUV
  7. 7. Communication
  8. 8. Navigation</li></li></ul><li>Background<br />AUV Definition:<br /> AUV is a robot which travels underwater and has to be controlled autonomously rather than ROV (Remotely Operated Vehicle).<br />
  9. 9. Background cont’<br />The AUV Mission:<br /> Ocean survey and resource assessment, Construction maintenance of undersea structures.<br />In this study, it is sought to design an AUV that will be used in the survey operation in the field of Ocean Mining and Oil Industry. <br />
  10. 10. AUV Definition and Missions cont’<br /><ul><li>Science: Sea floor mapping, Rapid response to </li></ul> oceanographic and geothermal events <br /> Geological sampling.<br /><ul><li>Military: Shallow water mine search and disposal, </li></ul> Submarine off-board sensors<br /><ul><li>Oil Industry: Ocean survey and resource assessment, </li></ul> Construction and maintenance of <br /> undersea structures.<br /><ul><li>Environment
  11. 11. Other Applications</li></li></ul><li>The Objective<br />This research aims to study:<br /><ul><li>The dynamic modeling of the AUV.
  12. 12. The mechanical design of the AUV.
  13. 13. The control strategy of the AUV. So, it will enable new surveying missions for the AUV.</li></li></ul><li>Dynamics and Modeling of The AUV<br /> The AUV coordinate systems <br />Dynamic modeling of an AUV is very challenging due to the hydrodynamic uncertainties which are non-linear coupled, and time varying. <br />
  14. 14. Control of the AUV<br />AUV Control Problems<br />Sliding Control<br /> Non-linear Control<br /> Adaptive Control<br /> Neural Network Control<br />Fuzzy Control<br />The highly nonlinear, time-varying dynamic behavior<br /> Uncertainties in hydrodynamic coefficients<br /> Disturbances by ocean currents<br />AUV Control Solutions<br />
  15. 15. Fabrication of The AUV<br />Section A-A<br />Section A-A<br />
  16. 16. Laminar Flow Hull vs. Torpedo body form <br />Laminar Flow Hull<br />Torpedo body form of the Explorer Vehicle<br />
  17. 17. Assembly of another AUV<br />
  18. 18. Communication<br />
  19. 19. Navigation<br />
  20. 20. References<br />CMERI, “Fabrication of Autonomous Underwater Vehicle (AUV)”, Technical Report, 2007.<br />J. YUH, “Design and Control of Autonomous Underwater Robots: A Survey”, 2000 <br />Santhakumar, M. and Asokan, T. “Non-linear Adaptive Control System for an Underactuated Autonomous Underwater Vehicle using Dynamic State Feedback”,2009.<br />
  21. 21. Thank you for attention<br />

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