SMaRC Academy Seminars, Apr. 16th 2021

As part of the SMaRC academy a series of seminars covering the reasearch within SMaRC will be held during the spring 2021. Below you can watch the first four webinars held by Ariel Chiche, Sriharsha Bhat, Clemens Deutsch  and Elias Strandell Erstorp.
Welcome to take a look!

As part of the SMaRC academy a series of seminars covering the reasearch within SMaRC will be held during the spring 2021. Below you can watch the first four webinars held by Ariel Chiche, Sriharsha Bhat, Clemens Deutsch  and Elias Strandell Erstorp.
Welcome to take a look!

Ariel Chiche

Performance of hybrid energy storage systems

Abstract: The aim of this subproject is to investigate the implementation of hybrid fuel cell/hybrid systems for the AUVs developed within the SMaRC project. The work is performed on two different scales. Both the design of such systems and the behaviour of fuel cells in such an environment are studied. The advantages of having fuel cells in terms of energy storage were already demonstrated and a promising hydrogen management strategy was developed, and is currently being improved. In addition, the energy management strategy and the heat management are being developed.

Sriharsha Bhat

Underactuation and hydrobatic AUVs

Abstract: Underactuated systems have fewer independent controls than degrees of freedom. While being challenging to obtain, underactuated control strategies can offer improved efficiency, and lead to elegant motions with minimum effort. In this talk, I will describe the problem of underactuation and apply it to the case of hydrobatic Autonomous Underwater Vehicles. To exploit the natural dynamics of an underactuated system, the control problem can be reformulated as an optimization problem, and optimal control inputs can be devised. In this spirit, I will present the design of a Model Predictive Controller (MPC) to control underactuated AUVs in hydrobatic maneuvers. I will present latest available results, as well as describe augmentations to include system identification and robust motion planning to this setup. Finally I will give illustrations of envisioned scenarios where such control strategies will be beneficial, with a sneak peek into the upcoming demo in Kristineberg.

Clemens Deutsch

Gliding verse propulsion – a case study

Abstract: Endurance is one of the key aspects of vehicle performance in underwater applications. The endurance largely depends on two components: energy systems and propulsion systems. These two systems form the basis of my research. In this presentation, I will give a brief summary on the benefits and drawbacks of using buoyancy-driven propulsions systems (underwater gliders) compared to conventional propeller-based systems.

Elias Strandell Erstorp

Performance aspects of a heterogeneous underwater network

Abstract: Recent developments in oceanic research point toward an increased use of heterogeneous systems of unmanned vehicles and autonomous sensors. To operate cooperatively, these sensors and vehicles needs to be able form communication networks using acoustic signals. These type of networks are subject to a high degree of dynamics and are difficult to predict in terms of performance. Evaluating performance through extensive simulations and seamlessly validating the results with sea trials is an important feature of Software Defined Modems (SDM). This presentation will give an introduction to the Unetstack framework and the Subnero SDM’s used for developing and evaluating acoustic network protocols.