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TECHNICAL PAPERS

Prediction of the Hydrodynamic Parameters in the Coupled Heave and Pitch Motion Equations for Underwater Robotic Vehicles Using Measured Responses at Sea

[+] Author and Article Information
Ayman B. Mahfouz, Mahmoud R. Haddara

Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5

Christopher D. Williams

National Research Council Canada, Institute for Marine Dynamics, St. John’s, NF, Canada A1B 3T5

J. Offshore Mech. Arct. Eng 123(3), 93-102 (Apr 20, 2001) (10 pages) doi:10.1115/1.1382593 History: Received December 02, 2000; Revised April 20, 2001
Copyright © 2001 by ASME
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References

Yuh, J., 1995, “Development in Underwater Robotics,” Proc., IEEE International Conference on Robotics and Automation, Piscataway, NJ, pp. 1862–1867.
Yuh, J., 1993, “Control of Underwater Robotic Vehicles,” Proc., International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 26–30, pp. 517–521.
Yuh, J., 1993, “Issues on Control of the Underwater Robotic Vehicles,” Proc., IEEE International Conference on Systems, Man, and Cybernetics, Part 3 (of 5), Le Touquet, France, pp. 313–315.
Conte, G., and Serrani, A., 1996, “Modeling and Simulation of Underwater Vehicles,” Proc., IEEE International Symposium on Computer-Aided Control System Design, Dearborn, MI, pp. 62–67.
Lloyd, A. R. J. M., 1989, SEAKEEPING: Ship Behaviour in Rough Weather, Ellis Horwood Limited.
Bhattacharyya, R., 1978, Dynamics of Marine Vehicles, John Wiley & Sons Inc., New York, NY.
Bingham, H., Korsmeyer, F., and Newman, J., 1994, “Prediction of the Seakeeping Characteristics of Ships,” 20th Symposium on Naval Hydrodynamics, Santa Barbara, CA, pp. 27–47.
Wong, H. L., 1995, “A Numerical Procedure for Slender Bodies at Leeway,” Proc., 3rd Canadian Marine Hydrodynamics and Structures Conference, Halifax/Dartmouth, Nova Scotia, Canada, pp. 83–62.
Wu Y., Xia J., and Du S., 1990, “Two Engineering Approaches to Hydroelastic Analysis of Slender Ships,” Proc., International Union of Theoretical and Applied Mechanics Memorial Symposium on the Dynamics of Marine Vehicles and Structures in Waves, Brunel University, Uxbridge, U.K., June 24–27, pp. 157–165.
Cohen,  S. B., and Beck,  R. F., 1983, “Experimental and Theoretical Hydrodynamic Forces on a Mathematical Model in Confined Waters,” J. Ship Res., 27, No. 2, pp. 75–89.
Nahon, M., 1996, “A Simplified Dynamics Model for Autonomous Underwater Vehicles,” Proc., Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, June 2–6, pp. 373–379.
Haddara,  M., Wishahy,  M., and Wu,  X., 1994, “Assessment of Ship’s Transverse Stability at Sea,” Ocean Eng., 21, No. 8, pp. 781–800.
Haddara, M. R., 1992, “On the Random Decrement for Nonlinear Rolling Motion,” Proc., 12th International Conference on Offshore Mechanics and Arctic Engineering, Calgary, Canada, pp. 283–288.
Haddara, M., and Wang, Y., 1996, “Parametric Identification of Coupled Sway and Yaw Motions,” International Conference on Offshore Mechanics and Arctic Engineering, Vol. 1, Offshore Technology, pp. 267–273.
Haddara, M. R., and Xu, J., 1998, “On the Use of Random Decrement in the Identification of Two Degrees of Freedom Systems,” Proc., CSME FORUM, Ryerson Polytechnic University, Toronto, May 19–22, Vol. 4, pp. 499–507.
Dingman,  S. L., and Sharma,  K. P., 1997, “Statistical Development and Validation of Discharge Equations for Natural Channels,” J. Hydrol., 199, pp. 13–35.
Montgomery, D., 1997, Design and Analysis of Experiments, John Wiley & Sons, New York, NY.
Wang, Y., 1996, “Ship Maneuverability Prediction Using Neural Networks,” M.E., Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, Newfoundland, Canada.
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Figures

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A photograph for the URV-model
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A photograph of the experimental setup of the URV-model in the wave tank
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Power spectral density function for heave motion (Case 1)
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Power spectral density function for pitch motion (Case 1)
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Power spectral density function for heave motion (Run 5-02)
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Power spectral density function for pitch motion (Run 5-02)
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Power spectral density function for heave motion (Run 19-0)
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Power spectral density function for pitch (Run 19-0)
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Feedforward neural networks
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Neural networks technique
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A narrow-band spectrum (JONSWAP)
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Comparison between the random decrement and the free response (Case 1)
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Comparison between the random decrement and the free response (Case 1)
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Comparison between the random decrement and the free response (Case 2)
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Comparison between the random decrement and the free response (Case 2)
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Comparison between the random decrement and the free response (Case 3)
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Comparison between the random decrement and the free response (Case 3)
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Comparison between the random decrement and the free response for heave (Run 5-02)
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Comparison between the random decrement and the free response for pitch (Run 5-02)
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Comparison between the random decrement and the free response for heave (Run 19-0)
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Comparison between the random decrement and the free response for pitch (Run 19-0)
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Comparison between the simulated and the predicted free responses for heave (Case 1)
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Comparison between the simulated and the predicted free responses for pitch (Case 1)
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Comparison between the measured and the predicted free responses for heave (Run 5-02)
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Comparison between the measured and the predicted free responses for pitch (Run 5-02)
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Comparison between the measured and the predicted free responses for heave (Run 19-0)
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Comparison between the measured and the predicted free responses for pitch (Run 19-0)

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