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Motion analysis of an autonomous underwater vehicle tethered with an optical fiber for real-time surveillance


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Fan, S, Chan, KC and Chin, CKH ORCID: 0000-0002-3070-731X 2020 , 'Motion analysis of an autonomous underwater vehicle tethered with an optical fiber for real-time surveillance' , IEEE Journal of Oceanic Engineering , pp. 1-13 , doi: 10.1109/JOE.2020.2986876.

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Autonomous underwater vehicles (AUVs) are playing an increasingly important role in ocean exploration. In some applications, an AUV can be tethered by a communication cable, such as an optical fiber, for real-time surveillance. This article focuses on the motion analysis of the AUV and cable coupling system to investigate the interaction between AUV and cable dynamic behaviors, especially under the current disturbance in the dynamic ocean environment. The dynamic equations of the coupled AUV and cable are derived using the well-known finite difference method and solved using the advanced trust-region method in MATLAB. The model-based simulation scheme is presented and further verified by comparing the simulation results with the validated ones published in the existing literature. The motion cases when the tethered vehicle maneuvers in a variety of motion modes and current scenarios are studied to conduct a systematic motion analysis. Both the variation in the cable tension at the towpoint and the configuration of the cable in the water are investigated. Based on the understanding of the cable and current effects on AUV motion, this article further explores the antitwining maneuvering strategy for the cable-tethered AUV moving in currents. The findings in this work can provide theoretical guidance for the safe operation of the AUV and cable coupling system in the field.

Item Type: Article
Authors/Creators:Fan, S and Chan, KC and Chin, CKH
Keywords: antitwining maneuvering strategy, autonomous underwater vehicles, cable dynamics, finite difference method, ocean current effects
Journal or Publication Title: IEEE Journal of Oceanic Engineering
Publisher: Ieee-Inst Electrical Electronics Engineers Inc
ISSN: 0364-9059
DOI / ID Number: 10.1109/JOE.2020.2986876
Copyright Information:

Copyright 2020 IEEEPersonal use of this material is permitted. Permission from IEEE must beobtained for all other uses, in any current or future media, includingreprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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