کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
246992 502399 2011 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Safe operation of an autonomous underwater towed vehicle: Towed force monitoring and control
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی عمران و سازه
پیش نمایش صفحه اول مقاله
Safe operation of an autonomous underwater towed vehicle: Towed force monitoring and control
چکیده انگلیسی

On underwater towed systems, the towing cable plays an important role in transmitting electric signals and towing forces. Hence, it is strongly recommended to monitor the towed force for preventing cable breaks and making use of it more efficiently; however, most existing underwater towed systems do not have such a capability. This paper discusses towed force monitoring and control for safe operation of an autonomous towed vehicle that is a kind of autonomous underwater vehicle (AUV). We first overview the autonomous towed vehicle and describe our related previous works. We then present our towed force measuring and monitoring manners and an experimental methodology for obtaining the feasible range of the towed force. In addition, towed force estimation only with vehicle dynamics is presented for the case when the towed force sensor became useless. Finally, we discuss towed force control to keep the towed force inside its feasible region.

Research Highlights
► We discuss towed force monitoring and control for safe operation of an autonomous towed vehicle.
► We describe our approach to the towed force measurement and monitoring.
► We present an experimental methodology for obtaining the safety range of the towed force.
► We present a towed force estimation method based only on vehicle dynamics.
► We discuss towed force control to keep the towed force inside the safety range.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automation in Construction - Volume 20, Issue 8, December 2011, Pages 1012–1019
نویسندگان
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