BEYOND THE BENCH-ENHANCING LEARNING THROUGH AR/VR IN PROCESS CONTROL SIMULATION

Abstract

ABSTRACT The invention provides a highly advanced undeiWater vector angle thruster system aimed at improving the precision and maneuverability ofundeiWater vehicles, such as remotely operated vehicles (ROVs), autonomous undeiWater vehicles (AUVs), and submarines. The system employs stepper motor-controlled thrusters that utilize an innovative gear mechanism, allowing for precise, incremental adjustments in thrust direction through vector control. This enables undeiWater vehicles to perform complex maneuvers, including lateral movement, foiWard and backward thrust, rotational adjustments, and even precise hovering in place, providing enhanced stability in challenging undeiWater environments, such as those with strong currents, confined spaces, or rugged terrains. A key feature of the system is its ability to adjust thruster angles dynamically in real-time via a feedback control unit, which receives data from onboard sensors monitoring the vehicle's orientation, .speed, and s.urrm,mding conditions .. Th~ feedback system processes this data and adjusts the thrust vectors accordingly, allowing the vehicle to respond to environmental factors, maintain stable positioning, or execute intricate movements with minimal human intervention. This real-time adaptability also reduces energy consumption by optimizing thrust output and limiting the need for constant large-scale adjustments, thereby increasing the vehicle's operational range and extending mission durations . The thruster system is designed with modular scalability in mind, enabling it to be adapted to various vehicle sizes and mission requirements, from small ROVs working in shallow waters to large, deep-sea manned submarines. The system's fine-tuned control makes it particularly useful for operations requiring high precision, such as undeiWater inspections, exploration, repair tasks, and other complex marine applications. Additionally, the system's energyefficient design helps extend the vehicle's battery life, making it ideal for long-duration missions in remote or deep-sea environments.

Specification

FIELD.OF INVENTION
The field of invention for the undeiWater vector angle thruster system primarily falls under
marine engineering, focusing on undeiWater propulsion systems and vector control thrusters.
This system enhances the maneuverability and precision of undeiWater vehicles like
submarines, remotely operated vehicles (ROVs), and autonomous underwater vehicles
(AUVs) by utilizing adjustable thruster angles for directional control. With applications in
oceanography, offshore engineering, defense, and undeiWater research, the system integrates
mechatronics and robotics technologies, using stepper motors and gear mechanisms for finetuned
control. This advancement allows vehicles to navigate and operate effectively incomplex
.undeiWater environments, making it invaluable for tasks like inspection, exploration, and
monitoring of submerged structures.
BACKGROUND OF THE INVENTION
Q) ,. The undeiWater vector angle thruster system addresses challenges in maneuverability and
· g> ··control for marine vehicles like submarines, ROVs, and autonomous undeiWater vehicles.
Traditional fixed-direction thrusters lack multi-directional control, making it difficult to
.maintain stability in all axes. This vector-controlled thruster system uses stepper motors for
N E precise angular adjustment, enhancing undeiWater navigation and operational efficiency m
like offshore oil and gas, marine research, and defense. -0 en
SUMMARY OF THE INVENTION


The invention introduces an undeiWater vector angle thruster system for improved
maneuverability and control ofundeiWater vehicles like submarines, ROVs, and autonomous
undeiWater vehicles. It integrates stepper motors, gears, and adjustable thrusters for precise
thrust direction and stability. The system's modular design allows customization for various
undeiWater applications. It also offers real-time adjustments, increasing operationalefficiency
and reducing energy consumption, making it ideal for precision tasks.
S.Thrustcr Angle Adjustment:
The vector angle adjustment is a critical aspect of the invention. The thruster can be rotated
to various angles (e.g., 30°, 90°, 180°) to allow precise control over the direction of thrust.
This is particularly useful for tasks requiring stable positioning or complex maneuvers. For
example:
a. A 90° angle could enable lateral movement or sideward strafing.
b. A 180° rotation allows the vehicle to quickly reverse direction or maintain a stable
hover in place.
c. Smaller angles, such as 30°, allow fine adjustments, providing greater flexibility in
positioning during sensitive operations like underwater inspections.
DETAILED DESCRIPTION OF THE PROJECT
1. Vector Control: - The key feature of this system is the ability to alter the thrust vector
dynamically in real time. This is achieved by adjusting the angle of the thrusters using
the stepper motors and gear system. By controlling the direction of each thruster
independently, the system allows the vehicle to rotate around its vertical or horizontal axis,
move laterally, or make complex maneuvers such as roll, pitch, and yaw adjustments.
2. Coordination with Main Thrusters : - In addition to the vector thrusters, the vehicle
is equipped with main thrusters located at the rear. These main thrusters provide forward
propulsion. The vector thruster system works in conjunction with the main thrusters to
enhance maneuverability. For example, while the main thrusters propel the vehicle
forward, the vector thrusters cart adjust the vehicle's heading or provide stabilization in
turbulent conditions.
3. Feedback and Control System: - The system is controlled by an onboard feedback
control unit. Sensors detect the vehicle's orientation, speed, and environmental factors
(such as current direction), providing real-time data to the control unit. The control unit
processes this information and sends signals to the stepper motors to adjust the thruster
angles accordingly. This feedback loop ensures smooth, responsive, and precise
movements, even in dynamic underwater environments .
4. Thruster Unit:
The thruster itself consists of a propeller or impeller system that generates the propulsion
force. It is mounted-on a rotating platform controlled by the stepper motor and gears. The
thruster's rotation allows for multi-directional movement, enabling the vehicle to
maneuver in all directions forward, backward, laterally, and rotationally. The propeller
design is optimized for underwater efficiency, generating sufficient thrust while
minimizing turbulence.
CLAIMS
We claim,
l. An underwater vector angle thruster system for controlling the movement and orientation
of an underwater vehicle, comprising:
a. stepper motor
b. primary gear coupled to the stepper motor
c, secondary gear engaged with the primary gear for adjusting the rotational angle of a thruster
d. thruster unit mounted on a rotating platform, wherein the angle of the thruster is adjustable
based on the rotation of the stepper motor and gear system;
e. control system for coordinating the operation of the stepper motor to adjust the thrust
direction in real time.
2. 2. The system of Claim 1, wherein the thruster unit comprises a propeller or impeller that
generates thrust in response to changes in the vector angle, allowing the underwater vehicle
to move forward, backward, laterally, and rotationally.
3. The system of Claim 1, wherein the stepper motor provides incremental control over the
angle of the thruster, allowing for precise adjustments in thrust direction.
4. The system of Claim 1, further comprising a feedback control unit configured to:
a. receive data from onboard sensors measuring the underwater vehicle's orientation, speed,
and environmental conditions;
b. process this data to adjust the thruster's angle and thrust magnitude in response tochanging
underwater conditions.
5. The system of Claim 1, wherein the vector angle adjustment of the thruster ranges from
*0° to 180°*, allowing for full control over the direction of thrust, including lateral
movement and rotation about the vertical and horizontal axes.
6. The system of Claim 1, wherein the gear system minimizes mechanical backlash, ensuring
smooth and accurate adjustments to the thruster angle.
7. The system of Claim 1, wherein the thruster system is modular and adaptable to different
sizes and types of underwater vehicles, including remotely operated vehicles (ROVs),
autonomous underwater vehicles (AUVs), and submarines.
underwater vehicle for forward propulsion, wherein the vector thrusters are configured to
work in conjunction with the main thrusters to provide enhanced maneuverability.
9. The system of Claim I, wherein the stepper motor and control system allow the thrusters
to adjust to pre-set angles, including 30°, 90°, and 180°, for performing specific maneuvers
such as lateral movement, rotation, and hovering.
10. The system of Claim I, wherein the thruster system is designed tor energy-efficient
operation, reducing the overall power consumption of the underwater vehicle by
minimizing the need for continuous thrust adjustments.

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