摘要：A high-efficiency propeller can enable a long mission duration for autonomous underwater vehicles(AUVs).In this study,a new method with OpenProp coupled with computational fluid dynamics was developed to design a propeller for an Explorer100 *** towed system simulation of the AUV was used to measure the nominal wake,and a self-propulsion simulation was used to measure the effective wake at the disc plane just in front of a *** propellers referring to the nominal wake(propeller 1)and effective wake(propeller 2)were designed with OpenProp and appended with the AUV for self-propulsion simulations,*** the numerical simulation of the AUV self-propulsion tests,the cruising velocity of AUV was *** flow characteristics of the self-propulsion in pressure and velocity contours were also *** propeller designed with an effective wake improved the thrust,velocity,and efficiency by approximately 11.3%,6.7%,and 2.5%,respectively,as compared with those with a nominal *** cruising velocity of the final designed propeller for the Explorer100 AUV improved by 21.8%,as compared to that of the original propeller from the AUV free-running tests.

摘要：This work focuses on motion control of high-velocity autonomous underwater vehicle(AUV).Conventional methods are effective solutions to motion control of low-and-medium-velocity *** not taken into consideration in the control model,the residual dead load and damping force which vary with the AUV’s velocity tend to result in difficulties in motion control or even failure in convergence in the case of high-velocity *** full consideration given to the influence of residual dead load and changing damping force upon AUV motion control,a novel sliding-mode controller(SMC)is proposed in this *** stability analysis of the proposed controller is carried out on the basis of Lyapunov *** sea trials results proved the superiority of the sliding-mode controller over sigmoid-function-based controller(SFC).The novel controller demonstrated its effectiveness by achieving admirable control results in the case of high-velocity movement.

摘要：There is much need for autonomous underwater vehicles(AUVs)for inspection and mapping *** conventional AUVs use torpedo-shaped single-rigid hull,because of which their manoeuvrability is ***,any increase in payload results in a larger hull size and the turning diameter,limiting its operation in constrained *** a solution to this problem,we develop M-Hull,a subsurface mapping AUV with a modular-split hull design that provides better manoeuvrability than a conventional torpedo-shaped *** the same time,it has more agility than an unconventional bio-inspired snake-like vehicle though their designs look *** approach makes it a hybrid solution between conventional torpedo-shaped AUVs and unconventional bio-inspired *** focus on improving the turning diameter during the mapping operation,and hence this paper concentrates on the dynamic aspects of the 2D turning motion of the *** will provide the relationship between turning speed,thrust,and joint torque requirements for the multi-hull underwater *** turning modes are compared to choose an optimum turning configuration,and the critical speed is calculated for the vehicle's safe *** the end,the modelling is verified using the experimental *** can follow the method followed here for the 2D motion analysis of similar underwater vehicles.

摘要：underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.