Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an

206 Pages·2017·3.09 MB·English

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Dissertations, Master's Theses and Master's Reports
2018
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Saeedeh Ziaeefard
Michigan Technological University, [email protected]
Copyright 2018 Saeedeh Ziaeefard
RReeccoommmmeennddeedd CCiittaattiioonn
Ziaeefard, Saeedeh, "Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to
Develop an Open Platform For Research and Education", Open Access Dissertation, Michigan
Technological University, 2018.
https://doi.org/10.37099/mtu.dc.etdr/639
Follow this and additional works at: https://digitalcommons.mtu.edu/etdr
Part of the Engineering Education Commons, Ocean Engineering Commons, and the Robotics Commons
EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED
UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN
PLATFORM FOR RESEARCH AND EDUCATION
By
Saeedeh Ziaeefard
A DISSERTATION
Submitted in partial fulfillment of the requirements for the degree of
DOCTOR OF PHILOSOPHY
In Mechanical Engineering- Engineering Mechanics
MICHIGAN TECHNOLOGICAL UNIVERSITY
2018
© 2018 Saeedeh Ziaeefard

This dissertation has been approved in partial fulfillment of the requirements for
the Degree of DOCTOR OF PHILOSOPHY in Mechanical Engineering- Engineering
Mechanics.
Department of Mechanical Engineering-Engineering Mechanics
Dissertation Advisor: Dr. Nina Mahmoudian
Committee Member: Dr. Mo Rastgaar
Committee Member: Dr. Gordon G Parker
Committee Member: Dr. Michele H Miller
Committee Member: Dr. Guy A Meadows
Department Chair: Dr. William Predebon

Dedication
To my mother..
Who never had the chance to see the outcome of her ultimate sacrifice. I would not
be here or be the person I am without her.

Contents
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv
Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvii
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxxi
1 Part1: Extending Maneuverability of Underwater Gliders . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 ROUGHIE Design and Upgrades . . . . . . . . . . . . . . . . . . . 7
3 ROUGHIE’s Dynamic Model and Motion Control . . . . . . . . . 17
3.1 Reference Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
vii
3.3 Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4 Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4.1 Pitch Control . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.4.2 Roll and Heading control . . . . . . . . . . . . . . . . . . . . 39
3.4.3 Switching Controller . . . . . . . . . . . . . . . . . . . . . . 42
4 Motion Planning Strategy Through Flight Concatenation . . . . 45
4.1 Basic Flights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.1.1 Wings-level Flight or Saw-tooth Motion . . . . . . . . . . . 46
4.1.2 Helical Flight or Spiraling Motion . . . . . . . . . . . . . . . 47
4.2 Advanced Flights . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.2.1 Turn around a point/Circle . . . . . . . . . . . . . . . . . . 53
4.2.2 Rectangular/ Oval Turn . . . . . . . . . . . . . . . . . . . . 56
4.2.3 180 ° Turn/ U-Turn . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.4 S-Turn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.2.5 Figure-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5 Experimental Validation and Conclusion . . . . . . . . . . . . . . . 67
5.1 Basic Flights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.1 Switching Controller . . . . . . . . . . . . . . . . . . . . . . 70
5.1.2 Pitch, Roll and Heading Controller . . . . . . . . . . . . . . 73
5.2 Advanced Flights . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.2.1 Circle, Oval Turn, and U-Turn Maneuvers . . . . . . . . . . 78
viii
5.2.2 S-Turn Maneuver . . . . . . . . . . . . . . . . . . . . . . . . 82
5.2.3 Figure-8 Maneuver . . . . . . . . . . . . . . . . . . . . . . . 84
5.3 Conclusion and Future Work . . . . . . . . . . . . . . . . . . . . . . 86
6 Part2: Utilizing Underwater Gliders for Engineering Education 89
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.2 GUPPIE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6.3 Co-robots Educational Program . . . . . . . . . . . . . . . . . . . . 96
6.3.1 Robotic Platforms . . . . . . . . . . . . . . . . . . . . . . . 99
6.3.2 Engineering design . . . . . . . . . . . . . . . . . . . . . . . 101
6.3.3 Electronics and Coding . . . . . . . . . . . . . . . . . . . . . 103
6.3.4 Assembly and Production . . . . . . . . . . . . . . . . . . . 106
6.3.5 Test and Troubleshooting . . . . . . . . . . . . . . . . . . . 107
7 Co-robots Program Implementation . . . . . . . . . . . . . . . . . . 109
7.1 Hands-on Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.2 Curriculum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.3 Teacher Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
7.4 Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7.5 Week-long Co-robots Program Overview . . . . . . . . . . . . . . . 123
7.5.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
7.5.2 Participants . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
ix