International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
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Statics variation analysis due to spatially moving of a full ocean depth autonomous underwater vehicle

  • Jiang, Yanqing (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Li, Ye (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Su, Yumin (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Cao, Jian (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Li, Yueming (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Wang, Youkang (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University) ;
  • Sun, Yeyi (State Key Lab of Science and Technology on Underwater Vehicle, Harbin Engineering University)
  • Received : 2018.05.22
  • Accepted : 2018.08.20
  • Published : 2019.01.31
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Abstract

Changes in gravity and buoyancy of a Full Ocean Depth Autonomous Underwater Vehicle (FOD-AUV) during its descending and ascending process must be considered very carefully compared with a Human Occupied Vehicle (HOV) or a Remotely Pperated Vehicle (ROV) whose activities rely on human decision. We firstly designed a two-step weight dropping pattern to achieve a high descending and ascending efficiency and a gravity-buoyancy balance at designed depth. The static equations showed that gravity acceleration, seawater density and displacement are three key aspects affecting the balance. Secondly, we try our best to analysis the gravity and buoyancy changing according to the previous known scientific information, such as anomaly of gravity acceleration, changing of seawater states. Finally, we drew conclusion that gravity changes little (no more than 0.1kgf, it is impossible to give a accurate value). A density-depth relationship at the Challenger Deep was acquired and the displacement changing of the FOD-AUV was calculated preciously.

Keywords

References

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