Autonomous Underwater Vehicles Part 5 docx

... 222 111 1 22 2 01 1 ()()() jj jj jj j jj xx yy zz t Uv w −−− − −− −+−+− Δ= ++ ( 25) Autonomous Underwater Vehicles 78 1 ;53 555 2 () sj j j j q Aw A q B δ − =− −  (32) In this case the last two ... with a 1.75m beam; 0.25m draft; fold- down communications mast; and fully-enclosed electronics and engine compartments. SeaFox’s water jet propulsion system is powered by a JP5-...

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... 13 150 6 40 -100 3.78 -0. 059 4 14 150 8 60 100 3.40 -0.0 858 15 150 10 20 0 5. 30 -0.0237 16 200 6 60 0 3.94 -0.1 15 17 200 8 20 -100 6.17 -0. 056 2 18 200 10 40 100 6.21 -0.0 756 Table 5. Orthogonal ... 9. 35 . Angle of attack α(degree) Reynolds number e R C D ( experiment) C D (CFD) Error percentage -2.9 7 .5 10 5 0.31 0.281 9. 35% 2.3 6.3×10 5 0. 25 0.268...

Ngày tải lên: 10/08/2014, 21:23

... area of proportional acceleration. 0 0 .5 1 1 .5 22 .5 3 3 .5 4 4 .5 5 5. 5 6 6 .5 7 7 .5 −1 .5 −1 −0 .5 0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 4 .5 5 5. 5 6 6 .5 7 7 .5 8 8 .5 9 9 .5 10 p w d [m] d 0 A − 0 (a) Graph of p w ( ... likewise be denoted a (o,w,c) i , respectively, and represent the 106 Autonomous Underwater Vehicles Autonomous Underwater Vehicles 94 fram...

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... routing schemes for underwater acoustic networks, IEEE Journal on Selected Areas in Communications 26(9): 1 754 –1766. 198 Autonomous Underwater Vehicles 8 Underwater Vehicles Fig. 5. Levels of generality ... comparison of ranges achieved from ≈ 75 m to 50 0 m with a change of transmitter power needed from 1mW to 100mW for this BER. 192 Autonomous Underwater Vehicles 2 U...

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... Design For a Hybrid-Driven Underwater Glider, Sea Technology,2010, Vol .51 , No.6,pp. 45- 47 Autonomous Underwater Vehicles 56 0 10 20 30 40 50 60 70 0 0 .5 1 1 .5 2 2 .5 velocity (m/s) force ... 54 -0. 15 -0.1 -0. 05 0 0. 05 0.1 0. 15 0.2 0. 25 0.3 0 4 8 1216202428 angle of attack α(°) Hinge Moment Coefficient C M P=0.2c P=0.25c P=0.3c P=0.35c P=0.4c P=0.45...

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... Will-be-set-by-IN-TECH S y = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ 11.0·10 −4 1.0 ·10 −4 3.0 ·10 5 3.0 ·10 5 3.0 ·10 5 00 05. 0 ·10 −7 5. 0 ·10 −7 5. 0 ·10 −7 1.0 ·10 −4 11.0 ·10 −4 3.0 ·10 5 3.0 ·10 5 3.0 ·10 5 00 05. 0 ·10 −7 5. 0 ·10 −7 5. 0 ·10 −7 1.0 ·10 −4 1.0 ·10 −4 13.0 ·10 5 3.0 ·10 5 3.0 ·10 5 00 05. 0 ·10 −7 5. 0 ·10 −7 5. 0 ·10 −7 3.0 ·10 5 3.0 ·10 5 3.0 ·10 5 16.0 ·...

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... the output of control will finally yields as 55 5 51 3 2 5 0.8 ( ) 0.8 Ku u f Ku u u εε ⎧ ⎪ ⎨ ⎪ ⎩ ≤ = ⋅+⋅ > (13) Autonomous Underwater Vehicles 134 2. Mathematical modeling and simulation ... manned vehicles to unmanned vehicles is a logical step within the oceanographic industry. Within the broad class of UUVs are the remotely operated vehicles (ROVs) and the...

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... η ηηη τη ητ −− −−− −− − − = ⎡⎤ =− ⎣⎦ = = =  ( 25) Fully Coupled 6 Degree-of-Freedom Control of an Over-Actuated Autonomous Underwater Vehicle 155 The presence of nonlinearities contained ... challenging task. Autonomous Underwater Vehicles 152 [] T φ θψ Θ= (4) The 6 DoF translational and rotational velocity vector in (1), decomposed in the body frame, is denoted...

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... variations over range. 188 Autonomous Underwater Vehicles Short-Range Underwater Acoustic Communication Networks 11 Speed of Sound Depth 1480 m/s 14 95 m/s 151 0 m/s 152 5 m/s 100 200 900 ... No. 4, (October), pp. (497 -50 1), ISSN 0364-9 059 Kokegei, M., He, F. & Sammut, K. (2008). Fully Coupled 6 Degrees-of-Freedom Control of Autonomous Underwater Vehicles,...

Ngày tải lên: 10/08/2014, 21:23