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Advisor(s)
Abstract(s)
O papel dos Unmanned Underwater Vehicles (UUVs) tem vindo a ganhar,
progressivamente, um maior destaque nos últimos anos. A sua constante evolução capacitaos da possibilidade de serem utilizados nas mais variadas missões, seja para fins militares ou
civis. Apesar das suas capacidades, este tipo de veículos, por recorrerem a uma propulsão
através de hélices, faz com que possuam algumas desvantagens, tais como: baixa eficiência
energética, baixa manobrabilidade em espaços confinados e altos valores de ruído. Em
resposta a estes problemas foram criados um novo tipo de veículos chamados Biomimetics
Underwater Vehicles (BUVs), que têm como objetivo o uso de sistemas que repliquem o
movimento de animais, colmatando as falhas acima mencionadas.
A presente dissertação inclui-se no projeto internacional SABUVIS em parceria
com a Escola Naval Polaca, Universidade de Tecnologia da Cracóvia entre outros, e a
Faculdade de Engenharia da Universidade do Porto e a Oceanscan como parceiros
portugueses. Este projeto tem como objetivo a construção e desenvolvimento de um
veículo biomimético capaz de executar operações de Intelligence, Surveillance and Reconnaissance
(ISR) através de uma cauda inspirada em peixes com duas secções ou uma cauda inspirada
na foca.
Assim, o trabalho desenvolvido na presente dissertação visa o desenvolvimento de
um controlador para a locomoção do veículo biomimético, usando uma cauda de imitação
de um peixe com uma secção e duas barbatanas laterais. Este controlador segue uma
arquitetura hierárquica de dois níveis, no controlador de alto nível são implementadas
diversas funções, como o veículo ser capaz de se movimentar para um dado ponto ou
seguir o movimento de outro veículo. No controlador de baixo nível são calculados os
parâmetros de oscilação da cauda principal e das barbatanas laterias tendo em conta os
comandos recebidos dos controladores de alto nível. Toda a validação do controlador
desenvolvido foi baseada na implementação dos controlos num simulador desenvolvido
para um veículo semelhante ao estudado.
In recent times, the role of Unmanned Underwater Vehicles (UUVs) has increasingly gained importance. Its constant evolution enables them to be used in the most varied missions, whether for military or civilian purposes. Despite its capabilities, this type of vehicles, due to propulsion through propellers, has some disadvantages, such as: low energy efficiency, low manoeuvrability in confined spaces and high noise values. In response to these problems, a new type of vehicle was created - Biomimetics Underwater Vehicles (BUVs) -, which aim to use systems that replicate the movement of animals, filling those flaws. This dissertation is part of the international project SABUVIS, in partnership with the Polish Naval School, Krakow University of Technology among others, and Faculdade de Engenharia da Universidade do Porto and Oceanscan as Portuguese partners. This project aims to build and develop a biomimetic vehicle capable of performing Intelligence, Surveillance and Reconnaissance (ISR) operations through a fish-inspired tail with two sections or a seal inspired tail. Thus, the work developed in this dissertation aims at the development of a controller for locomotion of the biomimetic vehicle, using a fish-like tail with one section and two pectoral fins. This controller follows a two-level hierarchical architecture: in the high-level controller several functions are implemented, such as the vehicle being able to move to a given point or to follow the movement of another vehicle. In the low-level controller, oscillation parameters of the main tail and side fins are calculated, considering the commands received from the high-level controllers. All the validation of the controller was based on the implementation of the controls in a simulator developed for a vehicle like the one studied.
In recent times, the role of Unmanned Underwater Vehicles (UUVs) has increasingly gained importance. Its constant evolution enables them to be used in the most varied missions, whether for military or civilian purposes. Despite its capabilities, this type of vehicles, due to propulsion through propellers, has some disadvantages, such as: low energy efficiency, low manoeuvrability in confined spaces and high noise values. In response to these problems, a new type of vehicle was created - Biomimetics Underwater Vehicles (BUVs) -, which aim to use systems that replicate the movement of animals, filling those flaws. This dissertation is part of the international project SABUVIS, in partnership with the Polish Naval School, Krakow University of Technology among others, and Faculdade de Engenharia da Universidade do Porto and Oceanscan as Portuguese partners. This project aims to build and develop a biomimetic vehicle capable of performing Intelligence, Surveillance and Reconnaissance (ISR) operations through a fish-inspired tail with two sections or a seal inspired tail. Thus, the work developed in this dissertation aims at the development of a controller for locomotion of the biomimetic vehicle, using a fish-like tail with one section and two pectoral fins. This controller follows a two-level hierarchical architecture: in the high-level controller several functions are implemented, such as the vehicle being able to move to a given point or to follow the movement of another vehicle. In the low-level controller, oscillation parameters of the main tail and side fins are calculated, considering the commands received from the high-level controllers. All the validation of the controller was based on the implementation of the controls in a simulator developed for a vehicle like the one studied.
Description
Keywords
BUV SABUVIS ISR Controlo