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Simulation of Kinematic and Dynamic Models of ITB Hybrid Autonomous Underwater Glider in MOOS-IvP Application
Siregar S.a, Trilaksono B.R.a, Idris Hidayat E.M.a, Kartidjo M.a, Habibullah N.a, Zulkarnain M.F.a
a Bandung Institute of Technology, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2019. The Authors. Published by Elsevier Ltd. All rights reserved.Hybrid Autonomous Underwater Glider (HAUG) is a vehicle with capabilities to operate in a long period and has effectiveness to maneuver in a dynamic environment. HAUG is propelled by buoyancy engine and moving-mass engine in glider mode. While in Autonomous Underwater Vehicle (AUV) mode, HAUG is propelled by thruster and the pitch and yaw is controlled by a control surface. This paper describes a mathematical hydrodynamical model of the proposed HAUG design, named as Institut Teknologi Bandung Hybrid Autonomous Underwater Glider (ITB-HAUG). The mathematical model simulated the interaction dynamic and kinematic in a dynamic environment while measuring energy consumption to evaluate the effectiveness of ITB-HAUG design. Furthermore, this paper use MOOS-IvP application as the based framework application to build and to simulate the mathematical models. The performance criterions of ITB-HAUG design are the maximum speed at 2.0 m/s in AUV mode, the maximum speed at 0.5 m/s in glider mode, and able to operate for minimum 100 hours in glider mode. The simulation result shows that the performance of the ITB-HAUG is satisfactory according to its design. This model shows a maximum horizontal speed at 2 m/s in AUV mode, a maximum surge speed at 0.503 m/s in glide mode. Moreover, in glide mode, the simulations show a stabilized pitch in 34.12° with a horizontal speed at 0.352 m/s when in descending condition, a stabilized pitch in 32.65° with a horizontal speed at 0.355 m/s when in ascending condition, and 0.61 W.h of energy consumption in one cyclic of gliding motion for 334.72 m range or in average of 135.8 operational hour with the designated battery.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Autonomous underwater gliders,Autonomous underwater vehicles (AUV),Environment simulation,Hydrodynamical model,Interaction dynamics,ITB-HAUG,MOOS-IvP,Performance criterion[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Dynamic,Environment Simulation,Hybrid Autonomous Underwater Glider,ITB-HAUG,Kinematics Modelling,MOOS-IvP[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1016/j.ifacol.2019.12.278[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]