{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:53:55Z","timestamp":1760241235306,"version":"build-2065373602"},"reference-count":11,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2019,12,17]],"date-time":"2019-12-17T00:00:00Z","timestamp":1576540800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Information"],"abstract":"<jats:p>The growing needs in exploring ocean resources have been pushing the length and complexity of autonomous underwater vehicle (AUV) missions, leading to more stringent energy requirements. A promising approach to reduce the energy consumption of AUVs is to use variable buoyancy systems (VBSs) as a replacement or complement to thruster action, since VBSs only require energy consumption during limited periods of time to control the vehicle\u2019s floatation. This paper presents the development of an electrohydraulic VBS to be included in an existing AUV for shallow depths of up to 100 m. The device\u2019s preliminary mechanical design is presented, and a mathematical model of the device\u2019s power consumption is developed, based on data provided by the manufacturer. Taking a standard mission profile as an example, a comparison between the energy consumed using thrusters and the designed VBS is presented and compared.<\/jats:p>","DOI":"10.3390\/info10120396","type":"journal-article","created":{"date-parts":[[2019,12,20]],"date-time":"2019-12-20T03:19:36Z","timestamp":1576811976000},"page":"396","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Development of an Electrohydraulic Variable Buoyancy System"],"prefix":"10.3390","volume":"10","author":[{"given":"Jo\u00e3o","family":"Falc\u00e3o Carneiro","sequence":"first","affiliation":[{"name":"LAETA-INEGI, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s\/n, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5439-0329","authenticated-orcid":false,"given":"Jo\u00e3o Bravo","family":"Pinto","sequence":"additional","affiliation":[{"name":"LAETA-INEGI, Universidade do Porto, Rua Dr. Roberto Frias, s\/n, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6365-9492","authenticated-orcid":false,"given":"Nuno A.","family":"Cruz","sequence":"additional","affiliation":[{"name":"INESC-TEC, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s\/n, 4200-465 Porto, Portugal"}]},{"given":"Fernando","family":"Gomes de Almeida","sequence":"additional","affiliation":[{"name":"LAETA-INEGI, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s\/n, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Griffiths, G. (2002). Autonomous buoyancy-driven underwater gliders. Technology and Applications of Autonomous Underwater Vehicles, CRC Press.","DOI":"10.1201\/9780203522301"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Ranganathan, T., and Thondiyath, A. (2016, January 29\u201331). Design and Analysis of Cascaded Variable Buoyancy Systems for Selective Underwater Deployment. Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics 2016, Lisbon, Portugal.","DOI":"10.5220\/0005979903190326"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Masmitj\u00e0, I., Gonz\u00e1lez, J., and Gom\u00e1riz, S. (2014, January 7\u201310). Buoyancy model for Guanay II AUV. Proceedings of the OCEANS 2014\u2014TAIPEI, Taipei, Taiwan.","DOI":"10.1109\/OCEANS-TAIPEI.2014.6964545"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Asakawa, K., Hyakudome, T., Ishihara, Y., and Nakamura, M. (2015, January 23\u201325). Development of an underwater glider for virtual mooring and its buoyancy engine. Proceedings of the 2015 IEEE Underwater Technology (UT), Chennai, India.","DOI":"10.1109\/UT.2015.7108263"},{"key":"ref_5","unstructured":"Kobayashi, T., Watanabe, K., Ino, T., Amaike, K., Tachikawa, H., Shikama, N., and Mizuno, K. (2010, January 20\u201325). New Buoyancy Engine for Autonomous Vehicles Observing Deeper Oceans. Proceedings of the Twentieth (2010) International Offshore and Polar Engineering Conference, Beijing, China."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Woithe, H., Chigirev, I., Aragon, D., Iqbal, M., Shames, Y., Glenn, S., Schofield, O., Seskar, I., and Kremer, U. (2010, January 24\u201327). Slocum Glider Energy Measurement and Simulation Infrastructure. Proceedings of the Oceans 2010, Sydney, Australia.","DOI":"10.1109\/OCEANSSYD.2010.5603909"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Falc\u00e3o Carneiro, J., Pinto, J.B., Cruz, N.A., and Gomes de Almeida, F. (2019, January 12\u201314). Using a variable buoyancy system for energy savings in an AUV. Proceedings of the 2019 5th Experiment International Conference (exp.at\u201919), Funchal, Portugal.","DOI":"10.1109\/EXPAT.2019.8876514"},{"key":"ref_8","unstructured":"Research, T.W. (2012). Slocum G2 Glider Operators Manual, Teledyne Webb Research. P\/N 4343, Rev. B."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1016\/S1672-6529(13)60228-0","article-title":"Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator","volume":"10","author":"Nuchkrua","year":"2013","journal-title":"J. Bionic Eng."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Li, K., Nuchkrua, T., Zhao, H., Yuan, Y., and Boonto, S. 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Technol."}],"container-title":["Information"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2078-2489\/10\/12\/396\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:42:54Z","timestamp":1760190174000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2078-2489\/10\/12\/396"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,17]]},"references-count":11,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2019,12]]}},"alternative-id":["info10120396"],"URL":"https:\/\/doi.org\/10.3390\/info10120396","relation":{},"ISSN":["2078-2489"],"issn-type":[{"type":"electronic","value":"2078-2489"}],"subject":[],"published":{"date-parts":[[2019,12,17]]}}}