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Buoyancy Regulation Strategy for Underwater Profiler Based Journal of Marine Science and Engineering Article Buoyancy Regulation Strategy for Underwater Profiler Based on Adaptive Genetic Algorithm Hui Zhi 1 , Puzhe Zhou 1 , Yanhu Chen 1,* , Xiaoyan Zhao 1, Yuandong Hong 1, Mingwei Lin 1 and Canjun Yang 1,2 1 The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; [email protected] (H.Z.); [email protected] (P.Z.); [email protected] (X.Z.); [email protected] (Y.H.); [email protected] (M.L.); [email protected] (C.Y.) 2 Ningbo Research Institute, Zhejiang University, Hangzhou 315000, China * Correspondence: [email protected] Abstract: Considering the energy limitations of underwater vehicles, a strategy for energy saving is proposed. In the proposed buoyancy regulation strategy, oil of the buoyancy regulation system is pumped out several times at different depths instead of all at once. A balance between energy and time is achieved by assigning suitable weights, and the optimised depth which can be obtained from the pressure sensor is used as the judgement threshold based on the adaptive genetic algorithm. Through the numerical simulation using sea trial data, the influence of weight selection on energy and time is explored, and the frequency of oil draining for the vehicle to ascend is optimised. Simulation results show that the proposed buoyancy regulation strategy can save energy effectively when the frequency of oil draining is 4 times within depths of 0–500 m. Finally, trials were performed in Qiandao Lake and verify the contradictory relationship between energy and time. Keywords: energy saving; buoyancy regulation strategy; adaptive genetic algorithm Citation: Zhi, H.; Zhou, P.; Chen, Y.; Zhao, X.; Hong, Y.; Lin, M.; Yang, C. 1. Introduction Buoyancy Regulation Strategy for There are abundant marine resources on the Earth [1,2]. With the development of Underwater Profiler Based on underwater technology, autonomous underwater vehicles [3], gliders [4,5], and buoys [6] Adaptive Genetic Algorithm. J. Mar. Sci. Eng. 2021, 9, 53. have been developed for ocean observation. Energy is a crucial matter in the design process https://doi.org/10.3390/jmse9010053 of underwater vehicles. Most underwater vehicles use lithium batteries, which have a high energy density, as an energy source [7,8]. More importantly, some underwater vehicles, Received: 1 December 2020 such as underwater gliders, use lithium batteries as weights for attitude adjustments [9] to Accepted: 4 January 2021 utilise the weight and space of the battery. Published: 6 January 2021 In general, underwater gliders and buoys are equipped with a buoyancy regulation system. Some buoyancy regulation systems increase their weight by pumping seawater into Publisher’s Note: MDPI stays neu- the body [10], and some increase their volume by pumping oil from an inner cylinder to an tral with regard to jurisdictional clai- external bladder [11]. The two methods have one thing in common—both require a motor ms in published maps and institutio- to drive the pump, and the energy required for this motor accounts for most of the overall nal affiliations. energy consumption. Yazji et al. adjusted the volume of the vehicle by utilising electrolysis and reverse electrolysis of polymer electrolyte membrane fuel cell [12]. Um et al. changed the overall volume of the buoyancy regulation system by electrolysing water and then inflating an artificial bladder with the generated gas to increase buoyancy [13]. Although Copyright: © 2021 by the authors. Li- censee MDPI, Basel, Switzerland. this method of changing the volume of gas is effective in a diving environment, depth This article is an open access article control is difficult once the vehicle reaches the deep-water area because of the greater distributed under the terms and con- compressibility of the air. Therefore, the method of changing the volume by using hydraulic ditions of the Creative Commons At- oil has been widely used. tribution (CC BY) license (https:// Figure1 shows the typical working process of an underwater profiler. When the creativecommons.org/licenses/by/ profiler prepares to descend, it pumps the oil from its outer oil bladder into its inner 4.0/). cylinder. When the profiler prepares to ascend, the reverse process is performed to increase J. Mar. Sci. Eng. 2021, 9, 53. https://doi.org/10.3390/jmse9010053 https://www.mdpi.com/journal/jmse J. Mar. Sci. Eng. 2021, 9, x FOR PEER REVIEW 2 of 17 J. Mar. Sci. Eng. 2021, 9, 53 2 of 16 cylinder. When the profiler prepares to ascend, the reverse process is performed to in- thecrease buoyancy. the buoyancy. Generally, Generally, this process this is process performed is performed all at once. all As at the once. depth As increases,the depth the in- powercreases, consumption the power ofconsumption the motor of of the the buoyancy motor of regulation the buoyancy system regulation becomes largersystem [ 14be-]. Somecomes researchers larger [14]. have Some explored researchers buoyancy have regulation explored strategiesbuoyancy to regulation save the energy strategies of the to profilersave the during energy the of workingthe profiler process. during Petzrick the work eting al. process. [15] proposed Petzrick pumping et al. [15] oil proposed in small incrementspumping oil and in maintainingsmall increments the total and ascent maintaining time within the total 20 h. ascent Mu et time al. [ 16within] proposed 20 h. Mu an overallet al. [16] energy proposed model an for overall the floating energy process mode basedl for the on floating the multiple process quantitative based on regulation the multi- strategy;ple quantitative through regulation numerical strategy; calculation, through they concluded numerical thatcalculation, the system they power concluded consump- that tionthe system is the lowest power when consumption the buoyancy is the regulation lowest when system the ofbuoyancy a 4000-m-level regulation submersible system of is a adjusted4000-m-level 16 times submersible during the is floatingadjusted process. 16 times Liu during et al. [the17] proposedfloating process. a ‘stage Liu quantitative et al. [17] oilproposed draining a control‘stage quantitative mode’, and theoil systemdraining parameters, control mode’, including and oilthe discharge system parameters, resolution, judgementincluding oil threshold discharge of the resolution, floating speed,judgemen andt frequency threshold ofof oil the draining, floating were speed, optimised. and fre- Thesequency strategies of oil draining, and methods were optimised. are instructive. These Itstrategies is necessary and tomethods establish are accurate instructive. kine- It maticis necessary models to and establish select appropriateaccurate kinemati judgementc models thresholds, and select especially appropriate considering judgement the interferencethresholds, ofespecially ocean currents. considering In addition, the interference it is meaningful of ocean to currents. explore the In contradictoryaddition, it is relationshipmeaningful betweento explore energy the contradictory and time during rela ascenttionship for between the development energy and of appropriatetime during missionascent for assignments. the development of appropriate mission assignments. FigureFigure 1.1.Schematic Schematic diagramdiagram ofof thethe workingworking processprocess of of an an underwater underwater profiler. profiler. InIn thisthis article,article, wewe proposepropose aa buoyancybuoyancy regulationregulation strategystrategy withwith depthdepth asas thethe judge-judge- mentment threshold.threshold. Our strategy is is based based on on the the adaptive adaptive genetic genetic algorithm algorithm (AGA) (AGA) which which is isvalidated validated using using a ahybrid hybrid underwater underwater profil profilerer (HUP) (HUP) [[18]18] namednamed ZhejiangZhejiang UniversityUniversity HUPHUP (ZJU–HUP)(ZJU–HUP) inin QiandaoQiandao Lake,Lake, China.China. TheThe remainderremainder ofof thisthis articlearticle isis organisedorganised asas follows.follows. SectionSection2 presents2 presents the the principle principle of a buoyancyof a buoyancy regulation regulation system system and the and ascending the as- kinematiccending kinematic model. Section model.3 presentsSection 3 the presents operation the operation process of process the AGA. of Sectionthe AGA.4 presents Section 4 thepresents results the of numericalresults of simulationsnumerical simulation within a depths within of 0–500 a depth m using of 0–500 sea trial m using data obtained sea trial indata July obtained 2017. Finally, in July Section 2017. Finally,5 presents Section the lake 5 presents trial and the the lake corresponding trial and the results.corresponding results. 2. Buoyancy Regulation System and Kinematic Model 2.1.2. Buoyancy Buoyancy Regulation System System and Kinematic Model 2.1. BuoyancyThe HUP Regulation designed System by Zhejiang University is a buoyancy-driven vehicle that can realise small-scale ocean observations based on the station-keeping method [18]. It uses a The HUP designed by Zhejiang University is a buoyancy-driven vehicle that can bi-directional gear pump to pump oil—oil is pumped from the internal hydraulic cylinder torealise the external small-scale bladder ocean to observations increase buoyancy based on and the conversely, station-keeping from themethod external [18]. bladderIt uses a tobi-directional the internal gear hydraulic pump cylinder to pump to oil—oil decrease is pumped buoyancy. from The the main internal specifications hydraulic of cylin- the ZJU–HUPder
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