Paweł Piskur

Among various approaches, the Fossen model has gained significant popularity due to its comprehensive representation of nonlinear hydrodynamic forces, stability, and modular structure. This paper compares different simulation models using a one-degree-of-freedom (1-DOF) system, demonstrating the benefits of the Fossen model over conventional mass-spring-damper-based approaches. By incorporating added mass, nonlinear damping, and restoring forces, the Fossen model provides a more accurate representation of marine dynamics. Additionally, its difference equation formulation ensures efficient computation while preserving stability, making it suitable for both real-time applications and high-fidelity simulations. The study highlights the impact of different numerical integration techniques and simulation environments, providing a foundation for extending the analysis to multi-degree-of-freedom systems.

This study presents a research methodology and test setup to analyze different types of recreational fins for specific tasks: beginner recreational swimming, deep-water diving, and sports swimming. The fins tested were Aqualung, Scubapro, and Exotech. The primary goal is to present the diving...

The article presents the design, construction and testing of an unmanned aerial vehicle (UAV) for marine applications. The UAV design includes specially developed floats, allowing it to float on the surface of the water. The UAV is designed to acquire data in the water’s depths using Ping360 sonar. It is controlled using a dedicated remote controller, or alternatively, can carry out autonomous missions according to a preprogrammed scenario. The sonar data is transmitted in real time to the operator at the ground station for ongoing analysis. The article discusses in detail the subsequent design and construction stages, including the frame and float design, the system architecture, and the electronic and hardware layers. The final section presents the results of the analysis of flight parameters, obtained both during tests over land and in sea conditions.

Deep Reinforcement Learning (DRL)-based algorithms have demonstrated substantial effectiveness in tackling complex control problems for autonomous underwater vehicles (AUVs). This paper attempts to evaluate reinforcement learning (RL)-based methods for AUV trajectory planning by incorporating a model of a vehicle’s full motion. In this study, the agent (AUV) is assumed to have no prior knowledge of the environment in which it navigates. Instead, it only receives inputs from navigation sensors and a simulated sonar. Additionally, in the article, a reward function is proposed and described, along with its optimization process, to elicit the desired behaviors in the underwater vehicle. The models are trained and tested on simplified electronic navigation chart (ENC) maps, followed by a comparative analysis against five effective classical methods for trajectory planning. The proposed solution enables efficient, collision-free route planning for the autonomous underwater vehicle, taking its motion dynamics into account to reach the designated target successfully.

This paper covers experimental research provided for Biomimetic Unmanned Underwater Vehicle (BUUV). The tests were conducted in a laboratory water tunnel equipped with a direct force-measured sensor and system for Particle Image Velocimetry (PIV) analysis. Different control parameters were tested, and then the generated thrust was compared with electric energy consumption. The main goal of the research is to develop a low hydroacoustic noise and high-energy efficiency propulsion system based on single, flexible fins. The final result is a set of Pareto optimal solutions, which makes it possible to draw more general conclusions on the design of the undulating propulsion system.

The global path planning system is one of the basic systems ensuring the autonomous operation of unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs) in a complex aquatic environment. The A* path planning algorithm is one of the most well-known algorithms used to obtain an almost optimal path, avoiding obstacles even in a complex environment containing objects with specific shapes and non-uniform arrangements. The main disadvantage of this algorithm is the computational cost of path calculation. This article presents a new approach based on the image processing of the map before determining the path using A*. The results of numerical research based on a large-sized map expressing the port area confirm the proposed method’s effectiveness, which reduces the calculation time by over 500 times with a slight increase in the path length compared to the basic version of the A* algorithm. Based on the obtained results, the proposed approach also increases the path’s safety by designating narrow and risky areas as closed to vehicle movement. For this reason, the method seems suitable for use in global path planning for autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) operating in large areas.

In recent years, morphing wings have become not only a concept, but an aerodynamic solution for the aviation industry to take a step forward toward future technologies. However, continuously morphing airfoils became an interesting answer to provide green energy solutions. In this paper, the authors conducted experimental research on a continuously camber-morphing airfoil using the Particle Image Velocimetry (PIV) and Computational Fluid Dynamics (CFD) methods. The main objective of this work was to research a variety of morphing airfoils with different camber deflections. An average velocity distribution and turbulence distribution were compared and are discussed. The two-dimensional PIV results were compared to the CFD simulations to validate the numerical method’s accuracy and obtain the aerodynamic coefficient’s trends. A further comparison revealed that morphing airfoils have better aerodynamic performance than conventional airfoils for very low camber deflections and create substantial amounts of drag for significant camber deflections.

This study analyses the impact of initial conditions on the results of numerical simulations of the fan load with underwater detonation and simultaneously typical harmonic loads from the operating device. It was shown that different initial conditions affect both displacement and velocity results. Furthermore, significant differences were indicated when comparing the results with devices without harmonic loads. The results indicate the need for more detailed analyses at the initial stage of modelling the impact resistance of devices planned for ship installation.

This article presents a real-time model of an obstacle detection and environmental mapping system based on image processing for an autonomous underwater vehicle (AUV). The model was based on Tritech Micron Sonar operating parameters with mechanical beam adjustment. The operation of the detection system was verified using a mathematical model of an autonomous underwater vehicle moving in the underwater environment, expressed by a test map prepared based on actual measurements of the above-mentioned sonar. The system model allows for detecting and mapping obstacles in the sonar’s field of view in real-time.

The special issue is devoted to selected papers, which results of the research were presented during the XVIII Conference on Automation, Operation and Maintenance of Control and Communication Systems ASMOR 2022. The conference was conducted from the 12th to the 14th of October 2022 in Władysławowo, Poland. The scope of the conference is quite wide, focusing mainly on automation and exploitation aspects of the control and communications systems. Due to the specified scope of the Electronics, only the papers selected by the ASMOR Scientific Committee and the Electronics Editors were published after an extensive reviewing and revising process.