Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
In this paper,the dynamic response of undersea -+towed systems is numerically simulated.Atwo body towed system is especially considered in detail.The factors influencing the heave oftowed-bodies,such as the weight of ...In this paper,the dynamic response of undersea -+towed systems is numerically simulated.Atwo body towed system is especially considered in detail.The factors influencing the heave oftowed-bodies,such as the weight of the towed-body(in sea water),the length and the weight(in sea water)per unit length of the cable between towed-bodies and towing ship,are investigated in detail.Calculationsshow that the two-body towed system can greatly increases the stability of the towed system.展开更多
In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.A...In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.展开更多
Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduc...Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.展开更多
A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its correspondin...A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.展开更多
Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial ...Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.展开更多
Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial val...Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.展开更多
Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome ...Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.展开更多
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
文摘In this paper,the dynamic response of undersea -+towed systems is numerically simulated.Atwo body towed system is especially considered in detail.The factors influencing the heave oftowed-bodies,such as the weight of the towed-body(in sea water),the length and the weight(in sea water)per unit length of the cable between towed-bodies and towing ship,are investigated in detail.Calculationsshow that the two-body towed system can greatly increases the stability of the towed system.
基金Project supported by the National Defense Basic Science Research Program,China(Grant No.JCKY2016607C009)the Youth Innovation Promotion Association of the Chinese Academy of Sciences(Grant No.2018025)。
文摘In the towed line array sonar system,the tow ship noise is the main factor that affects the sonar performance.Conventional noise cancelling methods assume that the noise is towards the endfire direction of the array.An acoustic experiment employing a towed line array is conducted in the western Pacific Ocean,and a strange bearing-splitting phenomenon of the tow ship noise is observed in the array.The tow ship noise is split into multiple noise signals whose bearings are distributed between 10°and 90°deviating from the endfire direction.The multiple interferences increase the difficulty in recognizing the target for the sonar operator and noise cancellation.Therefore,making the mechanism clear and putting forward the tow ship noise splitting bearing estimation method are imperative.In this paper,the acoustic multi-path structure of the tow ship in deep water is analyzed.Then it is pointed out that the bearing-splitting phenomenon is caused by the main lobe of direct rays and bottom-reflected rays,as well as several side lobes of direct rays.Meanwhile,the indistinguishability between the elevation angle and the bearing angle due to the axial symmetry of a strict horizontal line array causes the bearing to deviate from the endfire direction.Based on the theory above,a method of estimating bearing of the tow ship noise in deep water is proposed.The theoretical analysis results accord with the experimental results,which helps to identify the target and provide correct initial bearing guidance for noise cancelation methods.
基金This work was financially supported by National Hi-Tech R&D Program of China (863 Program)( Grant No2006AA04Z127)New Century Excellent Talents (NCET) of Tianjin University,2005
文摘Towed cable systems are frequently used in marine measurements where the length of the towed cable varies during launch and recovery. In this paper a novel method for modeling variable length cable systems is introduced based on the finite segment formulation. The variable length of the towed cable is described by changing the length of the segment near the towing point and by increasing or decreasing the number of the discrete segments of the cable. In this way, the elastic effects of the cable can be easily handled since geometry and material properties of each segment are kept constant. Experimental results show that the dynamic behavior of the towed cable is consistent between the model and the physical cable. Results show that the model provides numerical efficiency and simulation accuracy for the variable length towed system.
文摘A numerical approach was developed to analyze the transient behavior of towed cable during ac- tively controlled deployment/retrieval (DR).The cable motion is described by the lumped parameter method, its corresponding boundary conditions are presented.In view of its varying length during DR,two auxiliary arguments are introduced to describe its continuous varying length and discrete number of nodes(equations), the length is determined by the pay out(or reel-in) rate,which is then used to determine the node number by a logic relation.For the discrete mathematical model of towed cable,an algorithm was developed to deal with the discrete governing equations.The simulation results indicate that the cable experiences more com- plex motions due to its varying length,and tension fluctuates seriously in the startup and ending stage of deployment/retrieval.The effect of towing ship's motion in waves on cable during deployment/retrieval is also considered via numerical simulation.
文摘Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.
文摘Efficient numerical schemes were presented for the steady state solutions of towed marine cables. For most of towed systems,the steady state problem can be resolved into two-point boundary-value problem,or initial value problem in some special cases where the initial values are available directly.A new technique was proposed and attempted to solve the two-point boundary-value problem rather than the conventional shooting method due to its algorithm complexity and low efficiency.First,the boundary conditions are transformed into a set of nonlinear governing equations about the initial values,then bisection method is employed to solve these nonlinear equations with the aid of 4th order Runge-Kutta method.In common sense,non-uniform (sheared) current is assumed,which varies in magnitude and direction with depth.The schemes are validated through the DE Zoysa's example,then several numerical examples are also presented to illustrate the numerical schemes.
基金support of the National Natural Science Foundation of China (No.51875540)。
文摘Mobile observation platforms are widely used in oceanographic and marine resource exploration and other applications. Wave Glider is a mobile platform that can transform wave energy into locomotion power and overcome the bottleneck of low energy supply. Wave Glider has recently been applied to tow underwater sensors fulfilling observation tasks. In this paper, the dynamic system of Wave Glider with a towed body is studied by applying multibody mechanics, and the relevant motion conditions of the system are investigated. Dynamic models of Wave Glider with a towed body and tether are first developed individually and then integrated into a whole model. The numerical method is used to obtain the dynamic responses and assess performance of the towed body pulled by the submerged glider of Wave Glider. The effects of sea state, mass of the towed body, and length of the towed cable are investigated on the basis of simulation results. This work can be used for the design and analysis of Wave Glider-towed body systems.