Sobre
Investigador em robótica subaquática. Mais informações em http://oceansys.fe.up.pt/
Investigador em robótica subaquática. Mais informações em http://oceansys.fe.up.pt/
Investigador em robótica subaquática. Mais informações em http://oceansys.fe.up.pt/
2021
Autores
da Silva, MF; Honorio, LMD; dos Santos, MF; Neto, AFD; Cruz, NA; Matos, ACC; Westin, LGF;
Publicação
IEEE ACCESS
Abstract
To gather hydrological measurements is a difficult task for Autonomous Surface Vessels. It is necessary for precise navigation considering underwater obstacles, shallow and fast water flows, and also mitigate misreadings due to disturbs caused by their propulsion system. To deal with those problems, this paper presents a new topology of an Autonomous Surface Vessel (ASV) based on a catamaran boat with an aerial propulsion system with azimuth control. This set generates an over-actuated 3 Degree of Freedom (DoF) ASV, highly maneuverable and able of operating over the above-mentioned situations. To deal with the high computational cost of the over-actuated control allocation (CA) problem, this paper also proposes a Fast CA (FCA) approach. The FCA breaks the initial nonlinear system into partially-dependent linear subsystems. This approach generates smaller connected systems with overlapping solution spaces, generating fast and robust convergence, especially attractive for embedded control devices. Both proposals, i.e., ASV and FCA, are assessed through mathematical simulations and real scenarios.
2021
Autores
Mendonça, JM; Cruz, N; Vasconcelos, D; Sá-Couto, C; Moreira, AP; Costa, P; Mendonça, H; Pereira, A; Naimi, Z; Miranda, V;
Publicação
Journal of Innovation Management
Abstract
2021
Autores
Oliveira, AJ; Ferreira, BM; Cruz, NA;
Publicação
JOURNAL OF MARINE SCIENCE AND ENGINEERING
Abstract
2021
Autores
Teixeira F.B.; Ferreira B.M.; Moreira N.; Abreu N.; Villa M.; Loureiro J.P.; Cruz N.A.; Alves J.C.; Ricardo M.; Campos R.;
Publicação
Computers
Abstract
2021
Autores
Carneiro, JF; Pinto, JB; de Almeida, FG; Cruz, NA;
Publicação
IEEE JOURNAL OF OCEANIC ENGINEERING
Abstract
The growth of undersea exploration is pushing both the length and the complexity of propeller-driven autonomous underwater vehicles (AUVs) missions, leading to more stringent energy requirements. One approach to decrease the energy consumption of a hovering capable AUV is to use variable buoyancy systems (VBS) as a complement to the propeller actuators. These devices only require energy consumption during limited periods of time, taking into advantage the fact that whenever buoyancy is different from zero, the vehicle will continuously ascend or descend. Nevertheless, literature is scarce regarding the choice of the type of the VBS and of its constitutive elements, and regarding their effects on the energy required for buoyancy changes. This work presents structured and detailed static models of electromechanical and electrohydraulic VBSs that allow the calculation of the power required to actuate them. Based on the VBS desired characteristics and on manufacturer's data, the power consumption in each element of the VBS can be pinpointed to determine critical elements. Furthermore, a direct energy comparison with propeller-based solutions can be performed, allowing an easy evaluation of the energy gains provided by the VBS in different scenarios. This work also presents the preliminary development of an electromechanical and electrohydraulic VBS for an existing AUV at the University of Porto, Porto, Portugal. Based on the developed VBS and the developed model, numerical examples are provided for typical mission profiles. It is shown that the use of a VBS in the case of the existing AUV at the University of Porto leads to considerable energetic improvements.
Teses supervisionadas
2021
Autor
Maria Sara Delgadinho Noronha
Instituição
UP-FEUP
2021
Autor
Pedro Miguel Bento Teixeira
Instituição
UP-FEUP
2021
Autor
António José Ventura de Oliveira
Instituição
UP-FEUP
2021
Autor
Luís Páris Couto Venn Fonseca
Instituição
UP-FEUP
2021
Autor
Manuel Luís Magalhães Duarte Correia
Instituição
UP-FCUP
The access to the final selection minute is only available to applicants.
Please check the confirmation e-mail of your application to obtain the access code.