OMNI DIRECTIONAL

UNDERWATER ROBOT

E/12/131 ILLANKOON I.M.M.N

E/12/293 RATHNAYAKE R.M.B.E.B
E/12/409 RANASINGHE R.A.T.P
INTRODUCTION

HOW DO WE
PARK THE CAR IN
THE SPECIFIED
PARKING
AREA ???...
 Heave
Z
Surge
X
Yaw

Roll

Y
Sway Pitch
OBJECTIVES OF THE PROJECT

A robot with high maneuverability.

A control algorithm immune to external disturbances.
Precise station keeping & trajectory tracking.
Enhancing the degree of autonomy (in the context of navigation, localization
and underwater manipulations).
PREVIOUS WORK

A submersible 6 DOF hardware platform.

An approach to the mathematical model of the robot.
Ability to command the actuators remotely.
An approach to the controller design.
PROBLEMS ENCOUNTERED

Difficulty of accessing the interior of the robot.

Absence of a safety monitoring system.
Low thrust force generated by the propellers.
High speed and low torque motors for thrusters.
High dead zone in the BLDC motor driver (Electronic Speed Controller).
The developed mathematical model is highly idealized.
Absence of wireless communication method between the robot and the host.
MATHEMATICAL MODEL OF THE ROBOT

1. Force generated by the thrusters

2. Inertia tensor
3. Drag force due to velocity
4. Added mass due to acceleration of the fluid body
5. Rigid body dynamics
1. FORCE GENERATED BY THE THRUSTERS

T - Thrust
- Density of the fluid
T D - Diameter of the propeller
KT - Thrust coefficient
J0 - Advance number
n - Rotational velocity of propeller
V
w - Wake fraction number
V - Speed of the vehicle
Thruster with cooling fan propeller

Forward Thrust

Reverse Thrust
Thruster with submarine propeller

Forward Thrust

Reverse Thrust
2. INERTIA TENSOR

3x3 matrix.
Simplified to a diagonal matrix if motions are decoupled.
Not with our case.
A high degree of coupling between motions to achieve omnidirectional
nature.
3. DRAG FORCES DUE TO VELOCITY

- Drag force
- Density of the fluid
- Surface area
- Drag Coefficient
- Velocity
ANSYS SIMULATION ON DRAG COEFFICIENT
Simulated drag coefficient for X direction = 0.00344
(when moving at 0.5 ms-1)
4. ADDED MASS DUE TO ACCELERATION

A virtual mass added to a system.

Added mass coefficients consist of a 6x6 matrix(Since 6 DOF).
Experimental method- Free decaying method
Not enough facilities for accurate conductance of experiment.
Simulation using WAMIT,MultiSurf and Pro-Engineer software.
 5. RIGID BODY DYNAMICS Z
X
Body Fixed Frame (BF)

Earth Fixed(Inertial) Frame (EF)

Y
v
V and are linear velocity of the origin of BF and angular velocity of BF
respectively w.r.t EF expressed in BF

Fext x V) + ( x RG) + ( x RG)

Coriolis+Centripetal Forces

Iext x Inertia +

Coriolis+Centripetal Torques

Fext = (Applied Force) (Drag Forces) (Added Mass Forces) (Gravitational &
Buoyancy
Forces)

Mext = (Applied Torque) (Drag Torque) (Added Mass Torque) (Gravitational &
Buoyancy
Torque)
SIMULINK SIMULATION
FUTURE PLANS

Implementing a safety monitoring system.

Estimation of added mass coefficients and inertia tensor.
Developing an effective communication method between Arduino and
Raspberry Pi.
REFERENCES
THANK YOU!