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Deutsch, C., Chiche, A., Bhat, S., Lagergren, C., Lindbergh, G. & Kuttenkeuler, J. (2022). Evaluation of energy management strategies for fuel cell/battery-powered underwater vehicles against field trial data. Energy Conversion and Management: X, 14, 100193-100193, Article ID 100193.
Open this publication in new window or tab >>Evaluation of energy management strategies for fuel cell/battery-powered underwater vehicles against field trial data
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2022 (English)In: Energy Conversion and Management: X, ISSN 2590-1745, Vol. 14, p. 100193-100193, article id 100193Article in journal (Refereed) Published
Abstract [en]

This study combines high-fidelity simulation models with experimental power consumption data to evaluate the performance of Energy Management Strategies (EMS) for fuel cell/battery hybrid Autonomous Underwater Vehicles (AUV). The performance criteria are energy efficiency, power reliability and system degradation. The lack of standardized drive cycles is met by the cost-efficient solution of synthesizing power profiles from sampled AUV field trial data. Three power profiles are used to evaluate finite-state machine, fuzzy logic and two optimization-based EMS. The results reveal that there is a trade-off between the objectives. The rigidity of the EMS determines its load-following behavior and consequently the performance regarding the objectives. Rule-based methods are particularly suitable to design energy-efficient operations, whereas optimization-based methods can easily be tuned to provide power reliability through load-following behavior. Both classes of EMS can be best-choice methods for different types of missions.

Place, publisher, year, edition, pages
Elsevier BV, 2022
Keywords
Autonomous underwater vehicle (AUV), Fuel cell, Hybrid, Energy management strategies
National Category
Chemical Engineering
Identifiers
urn:nbn:se:kth:diva-311099 (URN)10.1016/j.ecmx.2022.100193 (DOI)000806559200002 ()2-s2.0-85124416261 (Scopus ID)
Note

QC 20220420

Available from: 2022-04-19 Created: 2022-04-19 Last updated: 2022-08-08Bibliographically approved
Deutsch, C., Thuné, S., Terán Espinoza, A. & Kuttenkeuler, J. (2022). Fuel Cells in Practice: Challenges and Benefits for AUVs. In: Oceans Conference Record (IEEE): . Paper presented at OCEANS 2022, Chennai, India, 21-24 February 2022. Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Fuel Cells in Practice: Challenges and Benefits for AUVs
2022 (English)In: Oceans Conference Record (IEEE), Institute of Electrical and Electronics Engineers Inc. , 2022Conference paper, Published paper (Refereed)
Abstract [en]

This study focuses on the feasibility and benefits of implementing of a fuel cell/battery hybrid power system in the autonomous underwater vehicle LoLo. We highlight the practical implications and challenges related to such a power system conversion and compare the benefits of using a fuel cell system rather than a pure battery system. Storage of hydrogen and oxygen as pressurized gases is considered most suitable for a conversion of this kind. In order to outperform Li-ion battery packs, high-pressure gas storage is required, preferably at pressures of 500 MPa or higher. Through a market analysis, we analyze the performance of commercial gas cylinders in terms of volumetric and gravimetric densities. This information can subsequently be used to compare energy density and effective energy density for the respective power systems. The study exemplifies how fuel cell/battery hybrid systems can provide up to 75% higher effective energy density compared to conventional battery packs. Ongoing developments in the fuel cell and auxiliary system markets are likely to allow for further optimization of the fuel cell system.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2022
Series
Ocean, ISSN 0197-7385
Keywords
Autonomous Underwater Vehicle; AUV; battery; fuel cell
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-312381 (URN)10.1109/OCEANSChennai45887.2022.9775283 (DOI)000819486100079 ()2-s2.0-85131700571 (Scopus ID)
Conference
OCEANS 2022, Chennai, India, 21-24 February 2022
Note

QC 20220518

QC 20220715

Available from: 2022-05-17 Created: 2022-05-17 Last updated: 2022-09-23Bibliographically approved
Kirchner, N., Kuttenkeuler, J., Rosqvist, G., Hancke, M., Granebeck, A., Weckstrom, J., . . . Eriksson, P. (2021). A first continuous three-year temperature record from the dimictic arctic-alpine Lake Tarfala, northern Sweden. Arctic, Antarctic and Alpine research, 53(1), 69-79
Open this publication in new window or tab >>A first continuous three-year temperature record from the dimictic arctic-alpine Lake Tarfala, northern Sweden
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2021 (English)In: Arctic, Antarctic and Alpine research, ISSN 1523-0430, E-ISSN 1938-4246, Vol. 53, no 1, p. 69-79Article in journal (Refereed) Published
Abstract [en]

Arctic lakes are exposed to warming during increasingly longer ice-free periods and, if located in glaciated areas, to increased inflow of meltwater and sediments. However, direct monitoring of how such lakes respond to changing environmental conditions is challenging not only because of their remoteness but also because of the scarcity of present and previously observed lake states. At the glacier-proximal Lake Tarfala in the Kebnekaise Mountains, northern Sweden, temperatures throughout the water column at its deepest part (50 m) were acquired between 2016 and 2019. This three-year record shows that Lake Tarfala is dimictic and is overturning during spring and fall, respectively. Timing, duration, and intensity of mixing processes, as well as of summer and winter stratification, vary between years. Glacial meltwater may play an important role regarding not only mixing processes but also cooling of the lake. Attribution of external environmental factors to (changes in) lake mixing processes and thermal states remains challenging owing to for example, timing of ice-on and ice-off but also reflection and absorption of light, both known to play a decisive role for lake mixing processes, are not (yet) monitored in situ at Lake Tarfala.

Place, publisher, year, edition, pages
Informa UK Limited, 2021
Keywords
Lake, vertical mixing, Arctic, Tarfala, water temperature
National Category
Biological Sciences
Identifiers
urn:nbn:se:kth:diva-293158 (URN)10.1080/15230430.2021.1886577 (DOI)000627321700001 ()2-s2.0-85102192737 (Scopus ID)
Note

QC 20220614

Available from: 2021-04-20 Created: 2021-04-20 Last updated: 2022-11-01Bibliographically approved
Erstorp, E. S., Sigray, P. & Kuttenkeuler, J. (2021). An Adaptive Transmission Power Controller for Flooding-based Underwater Network Protocols. In: 2021 5th Underwater Communications and Networking Conference, UComms 2021: . Paper presented at 5th Underwater Communications and Networking Conference, UComms 2021, Virtual/Online, 31 August-2 September 2021. Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>An Adaptive Transmission Power Controller for Flooding-based Underwater Network Protocols
2021 (English)In: 2021 5th Underwater Communications and Networking Conference, UComms 2021, Institute of Electrical and Electronics Engineers Inc. , 2021Conference paper, Published paper (Refereed)
Abstract [en]

In this study, we present the first iteration of DPower, an energy conserving method for use in underwater acoustic networks. The method encompasses a straightforward transmission power calibration procedure and adaptive power level selection. The method was evaluated in combination with DFlood, a known and validated constrained flooding protocol developed for underwater applications. Simulations of a network with given prerequisites have shown that, with an acceptable increase in packet loss, the presented method can dramatically reduce the energy consumption and thus improve the life-time of networks. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2021
Keywords
Adaptive control systems, Adaptive transmission, Energy utilization, Floods, Internet protocols, Power control, Calibration procedure, Energy-conserving, Floodings, Power calibration, Power controllers, Power levels, Transmission power, Underwater acoustic networks, Underwater networks, Iterative methods
National Category
Communication Systems
Identifiers
urn:nbn:se:kth:diva-316402 (URN)10.1109/UComms50339.2021.9598050 (DOI)000833352000008 ()2-s2.0-85123277311 (Scopus ID)
Conference
5th Underwater Communications and Networking Conference, UComms 2021, Virtual/Online, 31 August-2 September 2021
Note

Part of proceedings: ISBN 978-1-7281-9315-1

QC 20220816

Available from: 2022-08-16 Created: 2022-08-16 Last updated: 2023-10-02Bibliographically approved
Ringbäck, R., Wei, J., Strandell Erstorp, E., Kuttenkeuler, J., Johansen, T. A. & Johansson, K. H. (2021). Multi-Agent Formation Tracking for Autonomous Surface Vehicles. IEEE Transactions on Control Systems Technology, 29(6), 2287-2298
Open this publication in new window or tab >>Multi-Agent Formation Tracking for Autonomous Surface Vehicles
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2021 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 29, no 6, p. 2287-2298Article in journal (Refereed) Published
Abstract [en]

In this article, the problem of collaborative tracking of an underwater target using autonomous surface vehicles (ASVs) is studied. Distance-based formation control with a collision-avoidance potential function is employed as a solution. A formation control protocol is devised and applied to the formation tracking problem. With the protocol, the vehicles form a desired formation around a moving target in order to continuously estimate its position, while the centroid of the formation tracks the target. Almost global stability is proved for the case with three tracking agents. A fully operational platform with four ASVs was built to implement the derived algorithms. One of the vehicles was used to simulate a target and the rest to form a triangular formation around it. Power usage of a naval vessel is highly affected by water resistance forces which increases significantly with the velocity. This was accounted for by adding an additional term to the formation tracking protocol, thereby increasing the overall system endurance. Experimental results are presented.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2021
Keywords
Autonomous surface vehicles (ASVs), Convergence, Estimation, formation control, Multi-agent systems, Protocols, Sea surface, Target tracking, tracking., Trajectory, Autonomous agents, Multi agent systems, Naval vessels, Unmanned surface vehicles, Almost global stability, Autonomous surface vehicles, Collaborative tracking, Formation tracking, Fully operational, Potential function, Underwater target, Water-resistances, Autonomous vehicles
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-292886 (URN)10.1109/TCST.2020.3035476 (DOI)000704824600004 ()2-s2.0-85098802598 (Scopus ID)
Note

QC 20211105

Available from: 2021-04-19 Created: 2021-04-19 Last updated: 2023-09-26Bibliographically approved
Werner, S., Kuttenkeuler, J., Hörteborn, A., Lundbäck, O., Razola, M. & Dhomé, U. (2021). Performance predictions of long-distance sailing vessels. In: 7th High Performance Yacht Design Conference, HPYD 2021: . Paper presented at 7th High Performance Yacht Design Conference, HPYD 2021, 11 March 2021 through 12 March 2021. The Royal Institution of Naval Architects
Open this publication in new window or tab >>Performance predictions of long-distance sailing vessels
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2021 (English)In: 7th High Performance Yacht Design Conference, HPYD 2021, The Royal Institution of Naval Architects , 2021Conference paper, Published paper (Refereed)
Abstract [en]

Designing sailing vessels for world-wide cargo transportation requires that the trade route and weather conditions are taken into consideration in the design process. This work studies various strategies for representing the weather distribution related to the expected operational profile. The balance between accuracy and design work efficiency for the different methods is discussed and demonstrated for a wind powered car carrier concept.

Place, publisher, year, edition, pages
The Royal Institution of Naval Architects, 2021
Keywords
Transportation routes, Yachts, Car carriers, Cargo transportation, Design process, Design work, Operational profile, Performance prediction, Trade routes, Weather distribution, Sailing vessels
National Category
Marine Engineering
Identifiers
urn:nbn:se:kth:diva-309176 (URN)2-s2.0-85104771970 (Scopus ID)
Conference
7th High Performance Yacht Design Conference, HPYD 2021, 11 March 2021 through 12 March 2021
Note

QC 20220308

Available from: 2022-03-08 Created: 2022-03-08 Last updated: 2022-06-25Bibliographically approved
Deutsch, C., Chiche, A., Bhat, S., Lagergren, C., Lindbergh, G. & Kuttenkeuler, J. (2020). Energy Management Strategies for Fuel Cell-Battery Hybrid AUVs. In: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020: . Paper presented at 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020, 30 September - 2 October 2020, St John's, NL, Canada. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Energy Management Strategies for Fuel Cell-Battery Hybrid AUVs
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2020 (English)In: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020, Institute of Electrical and Electronics Engineers (IEEE) , 2020Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a comparison of different energy management strategies (EMS) for autonomous underwater vehicles (AUV) with fuel cell-battery hybrid power systems. Sophisticated EMS can decrease energy consumption, limit fuel cell degradation or increase reliability. EMS for hybrid vehicles have been studied extensively in the automotive industry where standardised drive cycles are applied. As for AUVs, there are no standard drive cycles and power profiles can vary significantly depending on the type of mission. In this study, rule-based and optimization-based EMS are compared. The rule-based strategies rely on deterministic rules and fuzzy logic, the optimization-based strategies minimize a constrained cost function to efficiently split the power demand. The EMS are evaluated against a previously sampled power profile of a Hugin 3000 AUV. The evaluation against real power profiles adds significant value to this study. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2020
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-292683 (URN)10.1109/AUV50043.2020.9267932 (DOI)000896378600049 ()2-s2.0-85098495025 (Scopus ID)
Conference
2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020, 30 September - 2 October 2020, St John's, NL, Canada
Note

QC 20230921

Available from: 2021-04-12 Created: 2021-04-12 Last updated: 2023-09-21Bibliographically approved
Waller, M., Dhomé, U., Kuttenkeuler, J. & Ruina, A. (2020). Force Balances for Monitoring Autonomous Rigid-Wing Sailboats. In: Advances in Intelligent Systems and Computing: . Paper presented at ROBOT 2019: Robot 2019: Fourth Iberian Robotics Conference, 20 November 2019 through 22 November 2019 (pp. 283-294). Springer
Open this publication in new window or tab >>Force Balances for Monitoring Autonomous Rigid-Wing Sailboats
2020 (English)In: Advances in Intelligent Systems and Computing, Springer , 2020, p. 283-294Conference paper, Published paper (Refereed)
Abstract [en]

Real-time monitoring and evaluation of practical trials with autonomous sailboats is often challenging: varying winds and waves influence a visual evaluation directly connected to a subjective verification of expected mechanical behavior while the inherent nature of sailing with different sensors operating in different coordinate frames complicates an objective data-based evaluation. In this paper, we illustrate the use of force balances as a tool for monitoring performance, for estimating and evaluating measurements and detecting unreliable sensors.

Place, publisher, year, edition, pages
Springer, 2020
Keywords
Autonomous sailboat, Fault detection, Force balance, Model-based data evaluation, Wingsail, Robotics, Sailing vessels, Data evaluation, Force balances, Mechanical behavior, Monitoring performance, Real time monitoring, Visual evaluation, Rigid wings
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:kth:diva-274254 (URN)10.1007/978-3-030-35990-4_23 (DOI)000627321900023 ()2-s2.0-85082107277 (Scopus ID)
Conference
ROBOT 2019: Robot 2019: Fourth Iberian Robotics Conference, 20 November 2019 through 22 November 2019
Note

QC 20200713

Available from: 2020-07-13 Created: 2020-07-13 Last updated: 2024-01-10Bibliographically approved
Deutsch, C., Kuttenkeuler, J. & Melin, T. (2020). Glider performance analysis and intermediate-fidelity modelling of underwater vehicles. Ocean Engineering, 210, Article ID 107567.
Open this publication in new window or tab >>Glider performance analysis and intermediate-fidelity modelling of underwater vehicles
2020 (English)In: Ocean Engineering, ISSN 0029-8018, E-ISSN 1873-5258, Vol. 210, article id 107567Article in journal (Refereed) Published
Abstract [en]

This paper analyses the transit performance of state-of-the-art underwater vehicles and presents an intermediate-fidelity steady-state flight mechanics model for qualitative performance assessment of underwater vehicles. Focusing on the comparison of underwater gliders and propeller-driven AUVs, a simple glide metric is presented and the transit performance of the legacy underwater gliders Slocum, Spray and Seaglider as well as propeller-modified versions thereof is evaluated. The evaluation is based on various data sets from wind tunnel tests and Computational Fluid Dynamics (CFD) studies, and shows that for the respective hull shapes gliding locomotion proves more efficient in ideal conditions. However, biofouling conditions inflict a double penalty on glider performance, rendering gliders inferior to propeller-driven vehicles. The Slocum data set is used to validate a steady-state flight mechanics model for qualitative performance prediction. It is shown that even simplistic models based on semi-empirical and analytical expressions can be successfully used for design optimization through parametrization. Being computationally efficient, the model can be a useful tool for design engineers in early design phases. The model is used to evaluate the effects of wing span on gliding efficiency, indicating that the current design of the Slocum glider is near-optimal.

Place, publisher, year, edition, pages
Elsevier BV, 2020
Keywords
Autonomous Underwater Vehicle (AUV), Underwater glider, Performance, Hydrodynamic modelling
National Category
Fluid Mechanics and Acoustics
Identifiers
urn:nbn:se:kth:diva-279173 (URN)10.1016/j.oceaneng.2020.107567 (DOI)000551161000033 ()2-s2.0-85085758343 (Scopus ID)
Note

QC 20200908

Available from: 2020-09-08 Created: 2020-09-08 Last updated: 2022-06-25Bibliographically approved
Kjelldorff, M., Kuttenkeuler, J., Kirchner, N., Krützfeldt, J. & Sundberg, M. (2020). Water current measurements using oceanographic bottom lander LoTUS. Applied Ocean Research, 94, Article ID 101982.
Open this publication in new window or tab >>Water current measurements using oceanographic bottom lander LoTUS
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2020 (English)In: Applied Ocean Research, ISSN 0141-1187, E-ISSN 1879-1549, Vol. 94, article id 101982Article in journal (Refereed) Published
Abstract [en]

LOTUS is a bottom landing, Long Term Underwater Sensing node made for the observation of ocean water temperatures. LoTUS is moored to the seafloor and measures temperature according to a specified time schedule until, at the end of the mission, it surfaces to transmit the collected data to on-shore recipients using an Iridium link. The paper presents an extension of the sensing capability which includes water current velocity (speed and direction) using a robust, reliable and inexpensive Eulerian method. The method is based on the "tilting stick" principle where a combination of inertial and magnetic measurement data are used. The paper discusses the principal technique, modeling of the system, practical considerations, optimization of the setup for specific flow conditions, and the verification of experimental data.

Place, publisher, year, edition, pages
Elsevier BV, 2020
Keywords
Ocean current velocity, Temperature, Long term, Eulerian, Moored system dynamics, Sensing
National Category
Oceanography, Hydrology and Water Resources
Identifiers
urn:nbn:se:kth:diva-300742 (URN)10.1016/j.apor.2019.101982 (DOI)000509631800014 ()2-s2.0-85074773004 (Scopus ID)
Note

QC 20220301

Available from: 2021-09-02 Created: 2021-09-02 Last updated: 2024-03-15Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0003-3337-1900

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