{"@type": "dcat:Dataset", "accessLevel": "public", "bureauCode": ["019:20"], "contactPoint": {"@type": "vcard:Contact", "fn": "Chris Vermillion", "hasEmail": "mailto:cvermil@ncsu.edu"}, "dataQuality": true, "description": "This paper examines the control of an autonomous underwater vehicle (AUV) with a deployable energy-harvesting kite for oceanographic observation and surveillance. The proposed design and control strategies specifically address objectives of achieving high-payload, long-endurance AUV operation through the deployment of an energy-harvesting kite while the AUV is anchored to the seabed, followed by the retraction of the kite for continued operation of the AUV. While deployed, the kite executes power-augmenting cross-current flight motions, using a hierarchical controller. When the AUV is in motion and the kite is retracted, a dynamic programming-based controller is used to select charging locations that minimize total charging time when traversing a prescribed mission path. Focusing on oceanographic observation along a Gulf Stream transect, using a hindcast model of the Gulf Stream current resource, the paper demonstrates the efficacy of the proposed control approach, as compared to several non-optimized alternatives.", "distribution": [{"@type": "dcat:Distribution", "accessURL": "https://mhkdr.openei.org/files/341/Reed_ACC_2020.pdf", "description": "Optimal Exploration and Charging for an Autonomous Underwater Vehicle with Energy-Harvesting Kite. Submitted to American Control Conference (ACC) July 2020.\n", "format": "pdf", "mediaType": "application/pdf", "title": "Reed Conference Paper ACC 2020.pdf"}], "identifier": "https://data.openei.org/submissions/7985", "issued": "2019-09-02T06:00:00Z", "keyword": ["AUV", "CEC", "Gulf Stream", "Hydrokinetic", "MHK", "Marine", "control", "current", "energy", "hindcast", "kite", "long-endurance", "observation", "ocean", "path", "power", "tidal kite"], "landingPage": "https://mhkdr.openei.org/submissions/341", "license": "https://creativecommons.org/licenses/by/4.0/", "modified": "2021-01-14T15:45:48Z", "programCode": ["019:009"], "projectLead": "Carrie Noonan", "projectNumber": "EE0008635", "projectTitle": "Device Design and Robust Periodic Motion Control of an Ocean Kite System for Marine Hydrokinetic Energy Harvesting", "publisher": {"@type": "org:Organization", "name": "North Carolina State University"}, "spatial": "{\"type\":\"Polygon\",\"coordinates\":[[[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948],[-78.63703604411673,35.77624554841948]]]}", "title": "Control of an AUV with deployable energy-harvesting kite"}