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    Measuring system and power management of the Guanay II AUV  Open access

     Masmitjà Rusinyol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-08-01
    Journal article

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    Latest contribution to guanay II  Open access

     Masmitjà Rusinyol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-10-01
    Journal article

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  • Linear control of the yaw and rudder limitations for Cormoran AUV

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Batlle Arnau, Carles; Gomariz Castro, Spartacus; Llorens Garcia, Ariadna
    International Workshop on Marine Technology
    Presentation's date: 2013-10-11
    Presentation of work at congresses

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  • Latest contributions to Guanay II

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus; Prat Tasias, Jordi; Del Rio Fernandez, Joaquin
    International Workshop on Marine Technology
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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  • Mathematical model of the Guanay II AUV

     Gonzalez Agudelo, Julian; Masmitjà Rusinyol, Ivan; Gomariz Castro, Spartacus; Batlle Arnau, Carles; Sarria Gandul, David; Del Rio Fernandez, Joaquin
    OCEANS MTS/IEEE
    Presentation's date: 2013-06-12
    Presentation of work at congresses

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    This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

    This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile,which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

  • Measuring system and power management of the Guanay II AUV

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Masmitjà, Gerard; Gomariz Castro, Spartacus; Del Rio Fernandez, Joaquin
    Symposium on Measurements of Electrical Quantities
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    Linear control of the yaw and rudder limitation for Cormoran AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-10-01
    Journal article

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  • Linear control of the yaw and rudder limitations

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-07-01
    Journal article

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    This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (auv). The development includes the physical limitations of the rudder that involve more constraints for the control. The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.

  • Latest contributions to Guanay II

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-07-01
    Journal article

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    This work presents the last contributions incorporated into AUV Guanay II, these have been emerged after some test fields, tests in the swimming pool and in the ocean, such as Mar Menor and Mar Mediterrani. These improvements are: First in the communication and control systems, for a more fluid communication a WiFi system has been incorporated, this allows access to PC-104 of Guanay II without disassemble it; second, a new RF system to connect and disconnect the electronics and a new method to charge the batteries have been designed; third, a new driver for lateral motor has been developed that allows control the motor in both directions; then the software of the vehicle and the base station has been upgraded to obtain a major and better user control; finally, a new ballast system has been incorporated. All of new contributions have been tested in the laboratory and in the field.

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    AUV based multi-vehicle collaboration: Salinity studies in Mar Menor coastal lagoon  Open access

     Gonzalez Agudelo, Julian; Masmitja, Ivan; Gomariz Castro, Spartacus; Molino, Erik; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Busquets, J; Guerrero, A; Lopez, F; Carreras, M; Ribas, D; Carrera, A; Candela, C; Ridao, P; Sousa, J; Calado, P; Pinto, J; Sousa, A; Martins, R; Borrajo, D; Olaya, A; Garau, B; Gonzalez, I; Torres, S; Rajan, R; McCann, M; Gilabert Cervera, Javier
    IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
    Presentation's date: 2012-04-10
    Presentation of work at congresses

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    An experiment with different AUVs was carried out in the Mar Menor Coastal Lagoon from October 31 to November 5 in order to measure and assess the influence of the water from the Mar Menor on the adjacent area of the Mediterranean. This was carried out as a result of the meeting held between several institutions from the Iberian Peninsula and EEUU (see Vilanova Marine Science/Robotics Meeting 2010). The experiment was to launch several AUVs at the same time in different zones of the Mediterranean and Mar Menor lagoon. AUVs took salinity data trying to do a coordinated mission during two operative days (November 3 and November 5). Others days of the experiment were used to the vehicle’s preparation and error correction (November 2 and November 4). This paper presents the steps followed in preparation and operative days with the set of AUVs. This paper presents also the salinity results obtained during these missions.

  • Limitations of linear control for Cormoran-AUV

     Gonzalez Agudelo, Julian; Benezra, Andreina; Gomariz Castro, Spartacus; Sarria Gandul, David
    IEEE International Instrumentation and Measurement Technology Conference
    Presentation's date: 2012-05-13
    Presentation of work at congresses

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    This work shows a mathematic calculation of the hydrodynamic model for the Cormoran-AUV, together with a linear controller which is valid in a certain range of speeds. It also presents the navigation instruments needed to work correctly. The mathematic model has been simplified to three degrees of freedom of movement and the whole system has been simulated using the Matlab Simulink Software. The system has been linearized for different velocities to design a linear control PD for each one of them. The performance of each PD controller is studied, and some limitations in the implementation of the control have been detected. For the case of low speeds, the desired path doesn’t reach the goals of control’s design using the non-linear model. This behavior motivated the search of a valid range of speeds for the nonlinear model. Different paths have been simulated using this control and their results have been compared trhough the performance in the rising time and the establish time.

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    Salinity studies in mar Menor using Guanay II AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusinyol, Ivan; Del Rio Fernandez, Joaquin; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2012-01-01
    Journal article

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    Ballast system for Guanay II AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusinyol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2012-12-01
    Journal article

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  • Design and construction of the GUANAY-II autonomous underwater vehicle

     Gomariz Castro, Spartacus; Gonzalez Agudelo, Julian; Arbos Martos, Alejandro; Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Prat Tasias, Jordi
    IEEE Oceanic Engineering Society
    Presentation's date: 2011-06-07
    Presentation of work at congresses

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    This paper presents the design and construction of Guanay II vehicle. It is an autonomous underwater vehicle that navigates over the sea surface and, at certain fixed points, dives vertically to obtain a profile of a water column. The designed vehicle has a double hull structure. The external fiberglass hull,which is not watertight, has been designed in accordance with Myring profiles to provide a good hydrodynamic performance.The watertight module located inside the external hull is made of aluminum and contains the immersion actuator, power batteries and the electronic system to control vehicle operations. The control system is divided in several subsystems: navigation, propulsion/immersion, safety, communication and data acquisition. The vehicle is 2300mm long by 320mm wide, and weighs 90kg.

  • Calibration process of geophones

     Roset Juan, Francesc Xavier; Garcia Benadí, Albert; Manuel Lazaro, Antonio; Gonzalez Agudelo, Julian
    IEEE Oceanic Engineering Society
    Presentation's date: 2011-06-06
    Presentation of work at congresses

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    The purpose of this article is to detail the process of characterization of an geophone in order to obtain the associated uncertainty and its sensitivity.

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    Hydrodynamic model, simulation and linear control for Cormoran-AUV  Open access

     Benezra, Andreina; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus; Garcia, Albert
    International Workshop on Marine Technology
    Presentation's date: 2011-09-22
    Presentation of work at congresses

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    This work shows the mathematic calculation for obtention of a Cormoran-AUV hydrodynamic model, it also shows a linar control design for a path tracking. The model has been simplified to three degrees of freedom of movement and the whole system has been simulated using Matlab Simulink Software. The system has been linearizated for different velocities to design a linear control for each one of them. However, all resulting systems can be controlled by a unique linear control due characteristics of the vehicle. The designed control is a PD controller, which avoids the position error since the pole of the vehicle model is at the origin. Different paths have been simulated using this control and their results have been comparated in both rising time as establish time.

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    Desarrollo de un vehículo de observación oceanográfica autónomo  Open access

     Gonzalez Agudelo, Julian; Masmitja, Ivan; Masmitja, Gerard; Prats, Jordi; Gomariz Castro, Spartacus
    Workshop Español de Robótica
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    En este trabajo se presenta el diseño y construcción del vehículo Guanay II. Es un vehículo autónomo submarino que navega sobre la superficie marina y en determinados puntos preestablecidos realiza inmersiones en vertical para obtener perfiles de la columna de agua. El vehículo diseñado tiene una estructura de doble casco. La estructura exterior, realizada en fibra de vidrio y no estanca,ha sido diseñada acorde con los perfiles de Myring para proporcionar al vehículo un buen comportamiento hidrodinámico. En el interior de esta estructura se acopla un módulo cilíndrico estanco de aluminio que contiene el actuador de inmersión, las baterías de alimentación y el sistema electrónico para el control de operaciones del vehículo. El sistema de control se encuentra dividido en los sistemas de: navegación, propulsión e inmersión, seguridad, comunicación y adquisición de datos. El vehículo mide 2.300mm de largo por 320mm de ancho y tiene un peso de 90kg.

  • Hydrodynamic model, simulation and linear control for cormoran-auv  Open access

     Gomariz Castro, Spartacus; Gonzalez Agudelo, Julian; Benezra, Andreina
    Instrumentation viewpoint
    Date of publication: 2011-11-01
    Journal article

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    in the 4th edition of MARTECH WORKSHOP which will be held in the city of Cádiz on September 2011. As in previous editions, MARTECH 2011 has been opened to all research groups working on the development of marine technologies and applications as well as companies involved in this field interested in display their products and developments. As a novelty MARTECH 2011 expands the topics covered in previous editions in order to address issues related to operational oceanography systems, new technologies for renewable marine energy and the technologies related to the offshore aquaculture. We sincerely hope, that the 77 contributions that you will find in the next pages provide you information of your interest. Warm Regards, MIGUEL BRUNO MEJÍAS Organizing Committee Martech 2011

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    Development of a control system for an autonomous underwater vehicle  Open access

     Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Gonzalez Agudelo, Julian; Shariat-Panahi Ghaderinejad, Shahram; Gomariz Castro, Spartacus
    Autonomous Underwater Vehicles
    Presentation's date: 2010-09-01
    Presentation of work at congresses

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    This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

    Postprint (author’s final draft)

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    Linear control design for a path planning of AUV-Cormoran  Open access

     Gonzalez Agudelo, Julian; Benezra, Andreina; Gomariz Castro, Spartacus; Manuel Lazaro, Antonio
    Instrumentation viewpoint
    Date of publication: 2010-12-01
    Journal article

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    This work shows a linearization for a AUV-Cormoran dynamic mathematical model with the aim of designing linear controllers for trajectory control. The model is developed under 3 degrees of freedom and the whole system has been simulated in Matlab Simulink environment. The linearization model is based on understanding the dynamics of the vehicle under different operating speeds, which present a different behavior, yet to be controlled by a single linear controller. For the linear control has raised the PD control that allows eliminate the position error, performing simulations of different trajectories and comparing its results in stability.

  • Considerations of the electronic control system for autonomous underwater vehicle  Open access

     Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2010-12-01
    Journal article

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    Following our traditional edition line, on this issue our magazine presents the annual summary of the different projects and research developed by SARTI research group, during 2010. The research projects undertaken by SARTI, in collaboration with other Spanish and international research teams, are linked to the development of instrumentation technology for marine applications, as well as for general industry. SARTI began its activities in 2000, and this year is the 10th year of our activity. Therefore it is the right time to introduce this issue, the No 10, of our magazine Instrumentation ViewPoint. We encourage you to collaborate in future issues of this journal, and to attend the next year’s congress: INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY, MARTECH 2011, on September 22 and 23, in Cadiz, Spain.