Sea-Whale 2000: A Long-range Hybrid Autonomous Underwater Vehicle for Ocean Observation

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	Sea-Whale 2000: A Long-range Hybrid Autonomous Underwater Vehicle for Ocean Observation
	Huang Y(黄琰)1,2,3 ; Qiao JN(乔佳楠)2,3; Yu JC(俞建成)2,3 ; Wang ZY(王振宇)2,3 ; Xie ZB(谢宗伯)2,3; Liu K(刘凯)1,2,3
	2019
会议日期	June 17-20, 2019
会议地点	Marseille, France
关键词	AUV long-range hybrid driven pitch angle control fuzzy PI
页码	1-6
英文摘要	This paper mainly introduces Sea-Whale 2000 -- a class of long-range hybrid autonomous underwater vehicles, which is newly developed by Shenyang Institute of Automation, CAS. Sea-Whale 2000 is designed to dive to 2000 meters underwater for ocean survey and has a 1500 kilometers work-range at a speed of 0.5m/s, supporting an average payload power of 7 watts. Concentrating on ocean observations, this type of vehicles can run a long-endurance mission for weeks by launching once, and they can accomplish multiple working mode missions, combining horizontal observation at a certain depth and vertical observation like gliders. The pitch control algorithm is mainly introduced, considering it contributes to both of the two characteristics above. Finally, a series of lake experiment results with a prototype are shown to prove the fundamental performances of Sea-Whale 2000 long range AUV.
产权排序	1
会议录	OCEANS 2019 Marseille
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-1450-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26044]
专题	海洋机器人卓越创新中心
通讯作者	Huang Y(黄琰)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy ofSciences, Shenyang 110016, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Huang Y,Qiao JN,Yu JC,et al. Sea-Whale 2000: A Long-range Hybrid Autonomous Underwater Vehicle for Ocean Observation[C]. 见:. Marseille, France. June 17-20, 2019.