A Bionic Flexible-bodied Underwater Glider with Neutral Buoyancy
Source abstract
Abstract
The buoyancy of traditional Underwater Glider (UG) with a rigid hull is affected by the changing marine parameters, making it difficult for the vehicle to dive deeper with good motion characteristics. In the present work, the development of a novel UG for neutral buoyancy, which is equipped with a Flexible-Liquid-Rigid (FLR) composite hull, is presented. The innovative hull that imitates the buoyancy regulation mechanism of marine organisms is easily adaptable to the changing marine environment. The rigid part of the composite hull withstands hydrostatic pressure for inner function modules of the vehicle. The liquid of the composite hull mainly serves as a buoyancy compensation to mitigate the effect of buoyancy variation caused by the changing marine parameters. The flexible covering provides a good hydrodynamic shape for the vehicle under the internal liquid pressure. The buoyancy variation due to the composite hull compression as well as changes of seawater density and temperature was comprehensively considered in the design process and integrated to the dynamic model. In addition, sea trials were performed to verify the motion characteristics of the proposed vehicle. The results reveal that the Flexible-bodied Underwater Glider (FUG) has a better gliding performance in practice.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Aerospace Engineering and Energy Systems · Water Quality Monitoring Technologies
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
References (47)
Show source-provided references
1. Griffiths, G. (2002). Technology and Applications of Autonomous Underwater Vehicles. CRC Press.
2. Blidberg, D. R. (2001). The development of autonomous underwater vehicles (AUV): A brief summary (p. 1). Seoul, Korea: IEEE ICRA.
3. Bovio, E., Cecchi, D., & Baralli, F. (2006). Autonomous underwater vehicles for scientific and naval operations. Annual Reviews in Control, 30, 117–130.10.1016/j.arcontrol.2006.08.003 ↗
4. Eriksen, C. C., Osse, T. J., Light, R. D., Wen, T., Lehman, T. W., Sabin, P. L., Ballard, J. W., & Chiodi, A. M. (2001). Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE Journal of Oceanic Engineering, 26, 424–436.10.1109/48.972073 ↗
5. Frajka-Williams, E., Eriksen, C. C., Rhines, P. B., & Harcourt, R. R. (2011). Determining vertical water velocities from Seaglider. Journal of Atmospheric and Oceanic Technology, 28, 1641–1656.10.1175/2011JTECHO830.1 ↗
6. Gould, W. J. (2005). From swallow floats to Argo—The development of neutrally buoyant floats. Deep Sea Research Part II: Topical Studies in Oceanography, 52, 529–543.10.1016/j.dsr2.2004.12.005 ↗
7. Rudnick, D. L., Davis, R. E., Eriksen, C. C., Fratantoni, D. M., & Perry, M. J. (2004). Underwater gliders for ocean research. Marine Technology Society Journal, 38, 73–84.10.4031/002533204787522703 ↗
8. Molloy, P. J., & Cowling, M. J. (1999). Buoyancy mechanisms of marine organisms: Lessons from nature. Underwater Technology, 24, 41–49.10.3723/175605499783259785 ↗
9. Webb, P. W., & Weihs, D. (1994). Hydrostatic stability of fish with swim bladders: not all fish are unstable. Canadian Journal of Zoology, 72, 1149–1154.10.1139/z94-153 ↗
10. Steen, J. B. (1970). The swim bladder as a hydrostatic organ. Fish Physiology, 10, 413–443.10.1016/S1546-5098(08)60135-1 ↗
11. Pelster, B., & Scheid, P. (1992). The influence of gas gland metabolism and blood flow on gas deposition into the swimbladder of the European eel Anguilla anguilla. Journal of Experimental Biology, 173, 205–216.10.1242/jeb.173.1.205 ↗
12. Enns, T., Douglas, E., & Scholander, P. F. (1967). Role of the swimbladder rete of fish in secretion of inert gas and oxygen. Advances in Biological and Medical Physics, 11, 231–244.10.1016/B978-1-4832-3107-5.50010-8 ↗
13. Phleger, C. F. (1998). Buoyancy in marine fishes: direct and indirect role of lipids. American Zoologist, 38, 321–330.10.1093/icb/38.2.321 ↗
14. Campbell, R. W., & Dower, J. F. (2003). Role of lipids in the maintenance of neutral buoyancy by zooplankton. Marine Ecology Progress Series, 263, 93–99.10.3354/meps263093 ↗
15. Phleger, C. F. (1991). Biochemical aspects of buoyancy in fishes. Biochemistry and Molecular Biology of Fishes, 1, 209–247.10.1016/B978-0-444-89124-2.50013-0 ↗
16. Webb, D. C., Simonetti, P. J., & Jones, C. P. (2001). SLOCUM: an underwater glider propelled by environmental energy. IEEE Journal of Oceanic Engineering, 26, 447–452.10.1109/48.972077 ↗
17. Sherman, J., Davis, R. E., Owens, W. B., & Valdes, J. (2001). The autonomous underwater glider “Spray.” IEEE Journal of Oceanic Engineering, 26, 437–446.10.1109/48.972076 ↗
18. Liu, F., Wang, Y. H., & Wang, S. X. (2014). Development of the hybrid underwater glider PetreI-II. Sea Technology, 55, 51–54.
19. Yang, Y. P., Liu, Y. H., Wang, Y. H., Zhang, H. W., & Zhang, L. H. (2017). Dynamic modeling and motion control strategy for deep-sea hybrid-driven underwater gliders considering hull deformation and seawater density variation. Ocean Engineering, 143, 66–78.10.1016/j.oceaneng.2017.07.047 ↗
20. Merckelbach, L., Smeed, D., & Griffiths, G. (2010). Vertical water velocities from underwater gliders. Journal of Atmospheric and Oceanic Technology., 27, 547–563.10.1175/2009JTECHO710.1 ↗
21. Zuo, X. L., Wang, W. B., & Tang, W. X. (2014). Overviews of investigation on submersible pressure hulls. Advances in Natural Science, 7, 54–61.
22. Messager, T., Pyrz, M., Gineste, B., & Chauchot, P. (2002). Optimal laminations of thin underwater composite cylindrical vessels. Composite Structures, 58, 529–537.10.1016/S0263-8223(02)00162-9 ↗
23. Song, B. W., Da, L., & Jiang, J. (2018). Optimization of composite ring stiffened cylindrical hulls for unmanned underwater vehicles using multi-island genetic algorithm. Journal of Reinforced Plastics and Composites, 37, 668–684.10.1177/0731684418760203 ↗
24. Pan, B., & Cui, W. (2012). Structural optimization for a spherical pressure hull of a deep manned submersible based on an appropriate design standard. IEEE Journal of Oceanic Engineering, 37, 564–571.10.1109/JOE.2012.2190809 ↗
25. Liang, C. C., Shiah, S. W., Jen, C. Y., & Chen, H. W. (2004). Optimum design of multiple intersecting spheres deep-submerged pressure hull. Ocean Engineering, 31, 177–199.10.1016/S0029-8018(03)00120-3 ↗
26. Tang, T. F., Li, B. R., Fu, X. Y., Xi, Y., & Yang, G. (2017). Bi-directional evolutionary topology optimization for designing a neutrally buoyant underwater glider. Engineering Optimization, 50, 1–17.
27. Yang, M., Yang, S. Q., Wang, Y. H., Liang, Y., Wang, S. X., & Zhang, L. H. (2020). Optimization design of neutrally buoyant hull for underwater gliders. Ocean Engineering, 209, 107512.10.1016/j.oceaneng.2020.107512 ↗
28. Hom, K. (1969). Composite materials for pressure hull structures. Ocean Engineering, 1, 315–324.10.1016/0029-8018(69)90033-X ↗
29. Chalmers, D. W. (1994). The potential for the use of composite materials in marine structures. Marine Structures, 7, 441–456.10.1016/0951-8339(94)90034-5 ↗
30. Yano, Y., & Takagawa, S. (2005). Exploratory study on engineering ceramics pressure hulls for deep-sea submergence services. Marine Technology Society Journal, 39, 49–55.10.4031/002533205787442431 ↗
31. Furlong, M. E., Paxton, D., Stevenson, P., Pebody, M., McPhail, S. D., & Perrett, J. (2012). Autosub long range: a long range deep diving AUV for ocean monitoring (pp. 1–7). Southampton, UK: IEEE/OES Autonomous Underwater Vehicles.
32. Wang, Z. Y., Yu, J. C., Zhang, A. Q., Sun, Z. Y., & Kang, S. (2018). Development and experiments of the buoyancy adjusting system of long-range AUV (pp. 1–6). Kobe, Japan: MTS/IEEE-OCEANS.
33. Eriksen, CC. (2013) Systems and methods for compensating for compressibility and thermal expansion coefficient mismatch in buoyancy controlled underwater vehicles. U.S. Patent, No. 8 381 672
34. Wang, S. X., Li, H. Z., Wang, Y. H., Liu, Y. H., Zhang, H. W., & Yang, S. Q. (2019). Dynamic modeling and motion analysis for a dual-buoyancy-driven full ocean depth glider. Ocean Engineering, 187, 106163.10.1016/j.oceaneng.2019.106163 ↗
35. Gleiss, A. C., Potvin, J., & Goldbogen, J. A. (2017). Physical trade-offs shape the evolution of buoyancy control in sharks. Proceedings of the Royal Society B: Biological Sciences, 284, 20171345.10.1098/rspb.2017.1345 ↗
36. Baldridge, H. D., Jr. (1970). Sinking factors and average densities of Florida sharks as functions of liver buoyancy. Copeia, 1970, 744–754.10.2307/1442317 ↗
37. Bone, Q., & Roberts, B. L. (1969). The density of elasmobranchs. Journal of the Marine Biological Association of the United Kingdom, 49, 913–937.10.1017/S0025315400038017 ↗
38. Iosilevskii, G., & Papastamatiou, Y. P. (2016). Relations between morphology, buoyancy and energetics of requiem sharks. Royal Society Open Science, 3, 160406.10.1098/rsos.160406 ↗
39. Steven, E., [2003], The Campana lab, https://uni.hi.is/scampana/sharks/
40. Priede, I. G., Burgass, R. W., Mandalakis, M., Spyros, A., Gikas, P., Burns, F., & Drewery, J. (2020). Near-equal compressibility of liver oil and seawater minimises buoyancy changes in deep-sea sharks and chimaeras. Journal of Experimental Biology, 223, 222943.10.1242/jeb.222943 ↗
41. Ridgway, S. H. (1971). Buoyancy regulation in deep diving whales. Nature, 232, 133–134.10.1038/232133a0 ↗
42. Miller, P. J., Johnson, M. P., Tyack, P. L., & Terray, E. A. (2004). Swimming gaits, passive drag and buoyancy of diving sperm whales Physeter macrocephalus. Journal of Experimental Biology, 207, 1953–1967.10.1242/jeb.00993 ↗
43. Kimwwilson. Spermaceti, [2016-05-05], https://slowair.wordpress.com/spermaceti-out-of-reach
44. Clarke, M. R. (1978). Buoyancy control as a function of the spermaceti organ in the sperm whale. Journal of the Marine Biological Association of the United Kingdom, 58, 27–71.10.1017/S0025315400024395 ↗
45. Bhatta, P., & Leonard, N. E. (2008). Nonlinear gliding stability and control for vehicles with hydrodynamic forcing. Automatica, 44, 1240–1250.10.1016/j.automatica.2007.10.006 ↗
46. Leonard, N. E., & Graver, J. G. (2001). Model-based feedback control of autonomous underwater gliders. IEEE Journal of Oceanic Engineering, 26, 633–645.10.1109/48.972106 ↗
47. Graver, J. G. (2005). Underwater Glider: Dynamic, Control and Design, Ph.D. Thesis, Princeton University, USA