Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction

Yoong Siang Song; Mohd Rizal Arshad

doi:10.1109/USYS.2016.7893930

Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction

Yoong Siang Song, Mohd Rizal Arshad

Universiti Sains Malaysia

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

5 Citations (Scopus)

Abstract

This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results show that a thruster will lose efficiency due to the interaction with the vehicle's body. Besides, experiment results also show that the effect of thruster-thruster interaction is not obvious for far separating thrusters.

Original language	English
Title of host publication	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology
Subtitle of host publication	Theory and Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	100-104
Number of pages	5
ISBN (Electronic)	9781509057986
DOIs	https://doi.org/10.1109/USYS.2016.7893930
Publication status	Published - 6 Apr 2017
Externally published	Yes
Event	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016 - Pulau Pinang, Malaysia Duration: 13 Dec 2016 → 14 Dec 2016

Publication series

Name	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications

Conference

Conference	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016
Country/Territory	Malaysia
City	Pulau Pinang
Period	13/12/16 → 14/12/16

Keywords

autonomous underwater vehicle
Thruster modeling
thruster-hull interaction
thruster-thruster interaction

Access to Document

10.1109/USYS.2016.7893930

Cite this

Song, Y. S., & Arshad, M. R. (2017). Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications (pp. 100-104). Article 7893930 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/USYS.2016.7893930

Song, Yoong Siang ; Arshad, Mohd Rizal. / Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction. USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 100-104 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

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title = "Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction",

abstract = "This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results show that a thruster will lose efficiency due to the interaction with the vehicle's body. Besides, experiment results also show that the effect of thruster-thruster interaction is not obvious for far separating thrusters.",

keywords = "autonomous underwater vehicle, Thruster modeling, thruster-hull interaction, thruster-thruster interaction",

author = "Song, {Yoong Siang} and Arshad, {Mohd Rizal}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016 ; Conference date: 13-12-2016 Through 14-12-2016",

year = "2017",

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doi = "10.1109/USYS.2016.7893930",

language = "English",

series = "USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Song, YS & Arshad, MR 2017, Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction. in USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications., 7893930, USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications, Institute of Electrical and Electronics Engineers Inc., pp. 100-104, 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016, Pulau Pinang, Malaysia, 13/12/16. https://doi.org/10.1109/USYS.2016.7893930

Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction. / Song, Yoong Siang; Arshad, Mohd Rizal.
USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. p. 100-104 7893930 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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AU - Arshad, Mohd Rizal

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N2 - This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results show that a thruster will lose efficiency due to the interaction with the vehicle's body. Besides, experiment results also show that the effect of thruster-thruster interaction is not obvious for far separating thrusters.

AB - This paper presents the thruster modeling for a Hovering Autonomous Underwater Vehicle developed by Underwater, Control, and Robotics Group. Bollard-pull experiments are done to find the relationship between axial forces generated by thrusters and input signal given to Arduino Uno board in degree, taking into account the effect of thruster-thruster and thruster-hull interaction. Experiments results show that a thruster will lose efficiency due to the interaction with the vehicle's body. Besides, experiment results also show that the effect of thruster-thruster interaction is not obvious for far separating thrusters.

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KW - Thruster modeling

KW - thruster-hull interaction

KW - thruster-thruster interaction

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Song YS, Arshad MR. Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc. 2017. p. 100-104. 7893930. (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). doi: 10.1109/USYS.2016.7893930

Thruster modeling for a Hovering Autonomous Underwater Vehicle considering thruster-thruster and thruster-hull interaction

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