Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots

Cely Gutiérrez, Juan Sebastián and Saltaren Pazmiño, Roque Jacinto and Portilla Tuesta, Gerardo Alejandro and Yakrangi, Oz and Rodríguez Barroso, Alejandro (2019). Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots. "Sensors", v. 19 (n. 17); pp. 1-24. ISSN 1424-8220. https://doi.org/10.3390/s19173631.

Description

Title: Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots
Author/s:
  • Cely Gutiérrez, Juan Sebastián
  • Saltaren Pazmiño, Roque Jacinto
  • Portilla Tuesta, Gerardo Alejandro
  • Yakrangi, Oz
  • Rodríguez Barroso, Alejandro
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 21 August 2019
ISSN: 1424-8220
Volume: 19
Subjects:
Freetext Keywords: system identification; systems modelling; hydrodynamics coefficients; unmanned underwater vehicles
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-57220-C2-1-PUnspecifiedUnspecifiedRobot actuado por cables para investigar y desarrollar el control cinemático y dinámico de sistemas robotizados en baja gravedad: aplicación a robots humanoides submarinos
Government of SpainPGC2018-095939-B-I00UnspecifiedUnspecifiedUnderwater hybrid legged robot for research on kinematics, dynamics and control during the locomotion on the seabed
Madrid Regional GovernmentS2018/NMT-4331RoboCity2030 DIH-CMUnspecifiedMadrid Robotics Digital Innovation Hub

More information

Item ID: 64178
DC Identifier: http://oa.upm.es/64178/
OAI Identifier: oai:oa.upm.es:64178
DOI: 10.3390/s19173631
Official URL: https://www.mdpi.com/1424-8220/19/17/3631
Deposited by: Memoria Investigacion
Deposited on: 20 Oct 2020 15:40
Last Modified: 21 Oct 2020 09:25
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