Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data

Description

Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions.

Resources

Name Format Description Link
33 This research aims to develop a comprehensive framework for modeling the hydrodynamics of a WEC-AUV dock system, optimizing the AUV homing and docking trajectory, and predicting the power status of a docking station and AUV. https://mhkdr.openei.org/files/456/A%20Framework%20for%20Wave-to-Wire%20Simulation%20of%20Wave%20Energy.pdf
33 Provides a brief description of the WEC-AUV-DOCK co-design. https://mhkdr.openei.org/files/456/Model%20summary.pdf
57 This contains the vehicle data that was recorded during the autonomous docking operations. https://mhkdr.openei.org/files/456/rosbags.zip
21 This GitHub repository includes information on how to install Ubuntu, the python for the BlueROV2, usage, and other supporting technologies needed. More information in the README. https://github.com/rakeshv24/bluerov2_dock
57 ProtueusDs and WAMIT models of FOSWEC2 (Oscillating Flap wave energy converter) https://mhkdr.openei.org/files/456/FOSWEC2_Model.zip
57 Videos of autonomous underwater docking from year 2 testing. https://mhkdr.openei.org/files/456/Hinsdale%20Videos%202023.zip
57 Videos of autonomous underwater docking from year 1 testing. https://mhkdr.openei.org/files/456/Videos.zip
33 Achieving autonomous docking in challenging conditions, including strong ocean currents and wave forces, remains an active area of research. Therefore, we present a docking framework that incorporates flow state estimation into the design of a model predictive controller (MPC) for achieving autonomous underwater docking with a WEC in diverse ocean conditions. Furthermore, this framework adequately addresses the influence of wave forces on the AUV. https://mhkdr.openei.org/files/456/IROS_2023%20%281%29.pdf
57 ProteusDS and WAMIT models for LUPA (self reacting point absorber WEC). https://mhkdr.openei.org/files/456/LUPA_Model.zip
33 Presented is a navigation framework to perform autonomous underwater docking to a WEC under various ocean conditions by incorporating flow state estimation into the design of model predictive control (MPC). The simulation results demonstrate the robustness and reliability of the proposed framework for autonomous docking under various ocean conditions. https://mhkdr.openei.org/files/456/Autonomous%20Underwater%20Docking%20using%20Flow%20State%20Estimation.pdf
33 We consider the underwater docking stations to be powered through a floating WEC, thereby enabling on-site energy harvesting and power transfer. As a main contribution, we present a navigation framework that couples flow state estimation with model predictive control (MPC) to perform autonomous underwater docking with a WEC under various ocean conditions. https://mhkdr.openei.org/files/456/Flow%20State%20Estimation%20and%20Optimal%20Control%20for%20Autonomous.pdf

Tags

  • co-design
  • geographlib
  • ros
  • hydrokinetic
  • software
  • coupled
  • autonomous-underwater-vehicles
  • docking
  • software-package
  • gi-gobject
  • bluerov2
  • mhk
  • c_
  • testing
  • wec
  • recharging
  • marine
  • python
  • lupa
  • numpy
  • code
  • casadi
  • robotics
  • imutils
  • opencv
  • technology
  • auv
  • mavros
  • pandas
  • video
  • wave-energy-converter
  • energy
  • pyyaml

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