A method for the identification of the damping, restoring, and coupling parameters in the equations describing the coupled heave and pitch motions for an underwater robotic vehicle (URV) sailing near sea surface in random waves using only its measured responses at sea is presented. The random decrement equations are derived for the URV performing coupled heave and pitch motions in random waves. The hydrodynamic parameters in these equations are identified using a new identification technique called RDLRNNT, which uses a combination of a multiple linear regression algorithm and a neural networks technique. The combination of the classical parametric identification techniques and the neural networks technique provides robust results and does not require a large amount of computer time. The developed identification technique would be particularly useful in identifying the parameters for both moderately and lightly damped motions under the action of unknown excitations effected by a realistic sea. Numerically generated data for the coupled heave and pitch motion of a URV are used initially to test the accuracy of the technique. Experimental data are also used to validate the identification technique. It is shown that the developed technique is reliable in the identification of the parameters in the equations describing the coupled heave and pitch motions for an URV.
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August 2001
Technical Papers
Prediction of the Hydrodynamic Parameters in the Coupled Heave and Pitch Motion Equations for Underwater Robotic Vehicles Using Measured Responses at Sea
Ayman B. Mahfouz,
Ayman B. Mahfouz
Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5
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Mahmoud R. Haddara, Mem. ASME,
mhaddara@engr.mun.ca
Mahmoud R. Haddara, Mem. ASME
Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5
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Christopher D. Williams
Christopher D. Williams
National Research Council Canada, Institute for Marine Dynamics, St. John’s, NF, Canada A1B 3T5
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Ayman B. Mahfouz
Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5
Mahmoud R. Haddara, Mem. ASME
Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John’s, NF, Canada A1B 3X5
mhaddara@engr.mun.ca
Christopher D. Williams
National Research Council Canada, Institute for Marine Dynamics, St. John’s, NF, Canada A1B 3T5
Contributed by the OMAE Division for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received by the OMAE Division, December 2, 2000; revised manuscript received April 20, 2001. Associate Editor: S. Calisal.
J. Offshore Mech. Arct. Eng. Aug 2001, 123(3): 93-102 (10 pages)
Published Online: April 20, 2001
Article history
Received:
December 2, 2000
Revised:
April 20, 2001
Citation
Mahfouz , A. B., Haddara, M. R., and Williams, C. D. (April 20, 2001). "Prediction of the Hydrodynamic Parameters in the Coupled Heave and Pitch Motion Equations for Underwater Robotic Vehicles Using Measured Responses at Sea ." ASME. J. Offshore Mech. Arct. Eng. August 2001; 123(3): 93–102. https://doi.org/10.1115/1.1382593
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