Deep Submergence Rescue Vehicle Research Articles

Design and Verification of Deep Submergence Rescue Vehicle Motion Control System.

A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral "saturation" problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.

Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

Piece-wise Linear Fuzzy Sliding Mode Controller for Deep Submergence Rescue Vehicle (DSRV)

The paper aims to present the design and performance of a single input fuzzy sliding mode controller (SIFSMC) to control the motion of deep submergence rescue vehicle (DSRV). The proposed controller uses the linear single dimension rule base where as the conventional fuzzy sliding mode controllers (CFSMC) uses the two-dimensional rule base. Moreover, the proposed controller does not merely depend on the DSRV exact mathematical model unlike that of the linear controllers. Using SIFSMC, the number of rules governs are also greatly reduced in comparison with the CFSMC, without compromising the overall performance. The robustness, equivalency and efficacy of proposed idea is illustrated through the simulation results using a marine system simulator in MATLAB/Simulink® environment. The main objective of the paper is to compare CFSMC and SIFSMC for UUV’s. Consequently, a comparative analysis of proposed SIFSMC is shown with the CFSMC for the same system of DSRV.

Deep submergence rescue vehicle docking based on parameter adaptive control with acoustic and visual guidance

In view of the difficulties in the attitude determination of wrecked submarine and the automatic attitude matching of deep submergence rescue vehicles during the docking and guidance of a submarine rescue vehicle, this study proposes a docking method based on parameter adaptive control with acoustic and visual guidance. This study omits the process of obtaining the information of the wrecked submarine in advance, thus saving considerable detection time and improving rescue efficiency. A parameter adaptive controller based on reinforcement learning is designed. The S-plane and proportional integral derivative controllers are trained through reinforcement learning to obtain the control parameters in the improvement of the environmental adaptability and anti-current ability of deep submarine rescue vehicles. The effectiveness of the proposed method is proved by simulation and pool tests. The comparison experiment shows that the parameter adaptive controller based on reinforcement learning has better control effect, accuracy, and stability than the untrained control method.

Online Adaptive Critic Learning Control of Unknown Dynamics With Application to Deep Submergence Rescue Vehicle

As a powerful tool for nonlinear systems robust controller design, robust adaptive dynamic programming (RADP) methods require initial admissible control and prior knowledge of disturbance to be effective. As the most effective approach to provide robustness to uncertainties, active disturbance attenuation (ADA), was rarely considered in RADP literatures. To combine ADA with RADP, a neural-network identifier was developed initially to approximate the plant dynamics and the imposed external disturbance. System states was extended with the approximated disturbance to establish ADA actor-critic learning. To relax the initial admissible control constraint, a novel auxiliary system were created based on the identifier dynamics. Theoretical analysis and simulations on unstable nonlinear system show that the approximated control law with respect to the auxiliary system and a newly proposed cost function itself could guarantee asymptotic stability of the original system. Simulations and comparison with other model-free control techniques demonstrated the excellent performance and robustness of the proposed method. Applicability of the proposed method was validated by applying it to trajectory tracking control of a deep submergence rescue vehicle.

Distributed control system architecture for deep submergence rescue vehicles

The control architectures of Chuan Suo (CS) deep submergence rescue vehicle are introduced. The hardware and software architectures are also discussed. The hardware part adopts a distributed control system composed of surface and underwater nodes. A computer is used as a surface control machine. Underwater equipment is based on a multi-board-embedded industrial computer with PC104 BUS, which contains IO, A/D, D/A, eight-channel serial, and power boards. The hardware and software parts complete data transmission through optical fibers. The software part involves an IPC of embedded Vxworks real-time operating system, upon which the operation of I/O, A/D, and D/A boards and serial ports is based on; this setup improves the real-time manipulation. The information flow is controlled by the software part, and the thrust distribution is introduced. A submergence vehicle heeling control method based on ballast water tank regulation is introduced to meet the special heeling requirements of the submergence rescue vehicle during docking. Finally, the feasibility and reliability of the entire system are verified by a pool test.

A simplified approach to design fuzzy logic controller for an underwater vehicle

Fuzzy logic controller (FLC) performance is greatly dependent on its inference rules. In most cases, the more rules being applied to an FLC, the accuracy of the control action is enhanced. Nevertheless, a large set of rules requires more computation time. As a result, an FLC implementation requires fast and high performance processors. This paper describes a simplified control scheme to design a fuzzy logic controller (FLC) for an underwater vehicle namely, deep submergence rescue vehicle (DSRV). The proposed method, known as the single input fuzzy logic controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input FLC. The SIFLC offers significant reduction in rule inferences and simplifies the tuning process of control parameters. The performance of the proposed controller is validated via simulation by using the marine systems simulator (MSS) on the Matlab/Simulink ® platform. During simulation, the DSRV is subjected to ocean wave disturbances. The results indicate that the SIFLC, Mamdani and Sugeno type CFLC give identical response to the same input sets. However, an SIFLC requires very minimum tuning effort and its execution time is in the orders of two magnitudes less than CFLC.

Research on Simulation System of the Interfacing Apparatus of Underwater Vehicle Based on VR

Underwater interfacing technique is the key technique of the underwater vehicle. Now the technique is mainly used in the submarine rescue. Based on the structural characteristics of the model of BSAV-Ⅰand the interfacing apparatus with the manipulators which are made by Harbin Engineering University, a group of equations were defined and solved based on the six freedom motion of the model. The software Creator and Vega were used to build virtual ocean geographic environment and the deep submergence rescue vehicle(DSRV), the virtual simulation system is created，with which the virtual simulation of the docking process of DSRV and the disable marine is done. Except this, the research on simulation system of the interfacing apparatus of the underwater vehicle based on VR can test the docking strategy, find the problems in docking and improve the structure of the interfacing apparatus.

The Design and Analysis of an Operating Mechanism for Loading Deep Submergence Rescue Vehicle Based on ADAMS

Success of rescue process is determined by reliability and safety of rescue device. Virtual prototype technology is introduced into the dynamics simulation and optimization for the design of an operating mechanism for loading deep submergence rescue vehicle, and the 3D CAD software, multibody system dynamics analysis software were combined. Taking into account wave excitation input at sea state 5 and 8 as the extreme marine working conditions, the virtual prototyping model of the operating mechanism is built by ADAMS. The whole topology relations of the vehicle are defined. Dynamics characteristics of key parts are analyzed in various virtual environments, which is quite difficult to be realized by physical tank test. Optimization strategy is proposed and verified by increasing the number of horizontal wheels and adding gap between horizontal wheels and the track. This method offers a new way to study the innovative design of similar marine special mechanism.

Identification of Multivariable Models of Underwater Vehicles

This paper deals with the identification of multivariable models of underwater vehicles. The proposed method can be applied to non linear models that are linear with respect to the unknown parameter vector. In order to cope with time-varying parameters, a recursive version ofthe identification algorithm has been implemented. The validity of this algorithm is illustrated by an application to the identification ofthe longitudinal dynamics of a DSRV(Deep Submergence Rescue Vehicle).

The use of mock-ups in the design of a deep submergence rescue vehicle : Janousek, J. A.Human Factors, 1970,12.1, 63–68

The use of mock-ups in the design of a deep submergence rescue vehicle : Janousek, J. A.Human Factors, 1970,12.1, 63–68

The New Catamaran Submarine Rescue Ships: ASR 21 Class

The loss of the USS Thresher in 1963 focussed attention on the need for new and modern submarine rescue facilities. The Navy's Deep Submergence Systems Project organization (DSSP) was created to explore and develop systems for search, rescue, salvage and associated undersea research programs. Among the systems developed by this organization were the Deep Submergence Rescue Vehicle (DSRV) and a deep-diving system employing saturation diving techniques. A new type of ship was required to support these systems, having characteristics quite different from existing submarine rescue ships (ASR's). In 1965 the Navy began preliminary design of the ASR 21 class of vessel, whose primary mission will be to support the rescue of personnel from sunken submarines. In order to perform this mission, the ship has to have the capabilities of transporting and handling two deep-submergence rescue vehicles; conducting deep-diving operations, including support of associated man-in-the-sea maneuvers; conducting search operations; and performing other miscellaneous tasks associated with its primary mission. The paper describes the principal features of this unique catamaran ship and outlines some of the design control aids and construction highlights.

The Use of Mockups in the Design of a Deep Submergence Rescue Vehicle

The Use of Mockups in the Design of a Deep Submergence Rescue Vehicle

Space and Deep Submergence Vehicles: Integrated Systems Sythesis

The extension of man's capabilities to explore the ocean depths and to utilize the abundant resources contained therein is one of today's most challenging technological problems. The difficulty in accurately keeping track of position on or under the wide expanses of the sea is one of the significant aspects of this endeavor. Specifically, precise navigation is an absolute necessity for such operations as the search for and recovery of objects from the ocean floor. The design of integrated marine guidance, navigation, and control systems is an outgrowth of aerospace technology adapted to inner space missions. The impact of mission requirements upon the synthesis of guidance, navigation, and control in deep submergence and space systems is illustrated by a comparative study of the Apollo and the Deep Submergence Rescue Vehicle.

Vertical Obstacle Sonar Prototype Trials

Results of trials of the prototype system for the deep submergence rescue vehicle obstacle-avoidance sonar are discussed. Data from the shallow area outside the San Diego Bay, including returns from a sunken ship, and data from deeper water in the La Jolla area, showing features of the terrain, are included. The system operates in a pulsed, active mode, and measures the relative phase of the outputs of two vertically displaced receivers. The arrival angle of back-scattering from the ocean bottom is thus determined. Recorded phase vs slant-range data have been converted by a CDC 3600 computer to elevation vs horizontal range. In the final system, this processing will be done in real time. [This paper represents results of research sponsored by the U. S. Navy's Office of Naval Research and the Deep Submergence Special Projects Office.]

Equations of Motion of a Deep Submergence Rescue Vehicle with Active Mercury Damping Control

The six-degree-of-freedom equations of motion are derived for a submerged body capable of dynamic internal mass movement. Simplified vehicle roll characteristics are then analyzed for creeping forward speed and it is shown that internal movement of liquid mercury can be utilized to control dynamically the roll attitude of the vehicle. The results of an analog computer simulation of the complete six-degree-of-freedom equations are cited to verify the simplified roll analysis.

Highlights of two and one-half years of simulation efforts for deep submergence vehicles

This paper describes the highlights of two and one-half years of computer simulation effort on the deep submer gence vehicles Trieste II (Trieste), NR-1, and Deep Sub mergence Rescue Vehicle (DSRV). The work, which is still in progress, is being performed by Sperry Gyroscope Com pany under Navy and company-funded programs. Introductory material of the paper presents the simula tion program objectives, outlines the simulation facilities, and gives an overall simulation block diagram. The com puter simulations are being used in control-system, hull, and force-effector design efforts for the development of operational doctrine, as a tool for human engineering as sessment of displays, control input devices, and console layouts, and as a pilot training aid. Basic computation equipment consists of a hybridiza tion between an Electronic Associates 231-R analog com puter and an Ambilog Model 200 digital computer. Major facilities used to supplement these computers are a two- degree-of-freedom cab containing console mockup, pilot's control station, and an electronic flying-spot-scanner tele vision display generator. Major elements characterized in the simulations are six- degree-of-freedom boat dynamics; coordinate transforma tions for television display cues and real-world television pictures; various effectors, actuators, and sensors; and control computer equations. The body of the paper gives details on the use of the computer simulation in deep submergence craft design work. The design stages are broken down as: statement of design criteria, analysis of system parts, analysis of com plete system, synthesis of system design, fabrication of system hardware, test and evaluation, and improvement of design. Unique hull, effector, actuator, and control-system design problems encountered during the two-and-one- half-year simulation study are outlined.. This paper on simulation is concluded with a summary which indicates the need for highly integrated displays, control input devices, and control computers for deep sea craft.