Control-Oriented Model of Biomimetic Underwater Vehicle Motion

Piotr Szymak; Tomasz Praczyk

doi:10.4028/www.scientific.net/SSP.236.121

Paper Titles

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Analysis of the Possibility of Use Lithium - Ion as a Starting Battery on the Ship Engine Room
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Simulation Model of Four Stroke, Six Cylinder Marine Diesel Engine
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Control-Oriented Model of Biomimetic Underwater Vehicle Motion
p.121

Determination and Display of Safe Ship Trajectories in Collision Situations at Sea
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Moving Object Detection, Localization and Tracking Using Stereo Vison System
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Analysis of Action Viscous Torsional Vibration Damper of the Crankshaft Based on Transverse Vibration the Engine Block
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Application of a Continuous Wavelet Transform for the Diagnosing of Excessive Valve Clearance of the Combustion Engine
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Control-Oriented Model of Biomimetic Underwater Vehicle Motion

Abstract:

In the paper, the problem of modeling motion of Biomimetic Underwater Vehicle BUV has been taken into consideration. The model of the BUV motion has been designed for initial tuning and verification of the vehicle’s autonomy system. The BUV is built within development project funded by Polish National Centre of Research and Development. At the end of the project, it is expected to achieve technology demonstrator at the 7th level of technology readiness.In the first part of the paper, a control-oriented mathematical model of the BUV designed for implementation of the simulator is described. Then, selected results of the BUV operation in the form of courses of the vehicle motion parameters are presented. Finally, general information about the implementation of the BUV model has been inserted.

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Periodical:

Solid State Phenomena (Volume 236)

Pages:

121-127

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.236.121

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Online since:

July 2015

Authors:

Piotr Szymak*, Tomasz Praczyk

Keywords:

Biomimetic Underwater Vehicle, Control-Oriented Model of the Motion

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