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Authors
Abstract(s)
O acentuado crescimento da área da robótica submarina levou ao surgimento de novos modelos de veículos de subsuperfície e com eles advêm também
novos desafios, nomeadamente associados à sua eficiência de propulsão e manobrabilidade. Para superar estes desafios as equipas de cientistas e investigadores usaram
a natureza como inspiração, procurando replicar o modo de locomoção dos peixes
através de barbatanas e caudas articuladas, introduzindo o conceito de veículos de
subsuperfície com propulsão biomimética.
Neste sentido, o projeto europeu SABUVIS foi iniciado pelo consórcio de
países Portugal, Polónia e Alemanha, com o apoio da European Defense Agency, procurando desenvolver um cardume de veículos biomiméticos, tendo este, capacidade
de cooperação entre unidades com função de líder e outras, menos capacitadas, com
funções de executantes, podendo estes dispositivos ser aplicados a um vasto leque
de missões.
Esta dissertação encontra-se inserida no projeto supramencionado e tem
como objetivo desenvolver o modelo matemático de uma unidade executante, denominada TOBIAS. Nesse sentido pretende-se calcular os correspondentes coeficientes
hidrodinâmicos, modelar a sua propulsão biomimética, bem como os efeitos das
barbatanas peitorais, procurando simular o seu comportamento dinâmico. Através
deste modelo, será possível analisar a resposta do TOBIAS em função dos diferentes
parâmetros de controlo sendo, para tal, realizadas diversas simulações numéricas
tanto em cadeia aberta, verificando o seu comportamento num conjunto de manobras (carreira retilínea, curva de giração, mergulho e emersão, mergulho e emersão
helicoidal), como em cadeia fechada, testando a aptidão do modelo para o desenvolvimento e implementação de algoritmos de controlo.
The significant growth in the area of underwater robotics has led to the appearance of new models of underwater vehicles, and with them also come new challenges, particularly associated with their efficiency of propulsion and maneuverability. To overcome these challenges, teams of scientists and researchers used nature as inspiration, seeking to replicate the locomotion of a fish through fins and articulated tails, introducing the concept of underwater vehicles with biomimetic propulsion. In this sense, the European project SABUVIS was initiated by a consortium of countries Portugal, Poland and Germany, with the support of the European Defense Agency, attempting to develop a swarm of biomimetic vehicles, with the ability of cooperation between units with leader function and others, less capable, with executioner functions, where these devices can be applied to a wide range of missions. This work is inserted in the aforementioned project and aims to develop the mathematical model of a led unit, known as TOBIAS. Therefore, it is intended to calculate the corresponding hydrodynamic coefficients, and to model its biomimetic propulsion, as well as the effects of the pectoral fins, in an attempt to simulate its dynamic behavior. Through this model, it will be possible to analyze the performance of TOBIAS as a function of different control parameters. To validate this approach, several numerical simulations will be performed both in open loop, verifying its behavior in a set of maneuvers (forward swimming, turning circle, dive and emersion, helical dive and emersion), and in close loop, testing the suitability of the model for the development and implementation of control algorithms.
The significant growth in the area of underwater robotics has led to the appearance of new models of underwater vehicles, and with them also come new challenges, particularly associated with their efficiency of propulsion and maneuverability. To overcome these challenges, teams of scientists and researchers used nature as inspiration, seeking to replicate the locomotion of a fish through fins and articulated tails, introducing the concept of underwater vehicles with biomimetic propulsion. In this sense, the European project SABUVIS was initiated by a consortium of countries Portugal, Poland and Germany, with the support of the European Defense Agency, attempting to develop a swarm of biomimetic vehicles, with the ability of cooperation between units with leader function and others, less capable, with executioner functions, where these devices can be applied to a wide range of missions. This work is inserted in the aforementioned project and aims to develop the mathematical model of a led unit, known as TOBIAS. Therefore, it is intended to calculate the corresponding hydrodynamic coefficients, and to model its biomimetic propulsion, as well as the effects of the pectoral fins, in an attempt to simulate its dynamic behavior. Through this model, it will be possible to analyze the performance of TOBIAS as a function of different control parameters. To validate this approach, several numerical simulations will be performed both in open loop, verifying its behavior in a set of maneuvers (forward swimming, turning circle, dive and emersion, helical dive and emersion), and in close loop, testing the suitability of the model for the development and implementation of control algorithms.
Description
Keywords
AUV Veículo Biomimético Modelação Matemática Propulsão Ondulatória Simulação