This paper presents the optimization of a novel docking design for docking and charging of autonomous underwater vehicles. The docking design has been optimized to maximize the capture envelope and minimize the maximum contact force. Two design parameters, sweep angle and ramp angle, were optimized as was the velocity during terminal homing and capture. The optimization was an exhaustive optimization with 5600 unique simulations completed that included the vehicle hydrodynamics, impact dynamics, and controller. Unique to the presented docking design is the ability to support a wide variety of vehicles from different size classes through its simplified funnel design and use of a docking adapter as validated in simulation with a Dolphin II AUV and Bluefin SandShark. The only part of the docking system that contacts the vehicle is a standardized docking adapter that is meant as a drop-in replacement for an antenna mast. The presented docking system is low-cost, compact, and can be deployed in a wide variety of situations including mobile docking.

中文翻译：

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水下坞站设计的仿真驱动优化

本文介绍了一种用于自主水下航行器对接和充电的新型对接设计的优化。对接设计进行了优化，以最大限度地提高捕获包络和最大限度地减少最大接触力。两个设计参数，扫掠角和斜坡角，以及终端归位和捕获期间的速度都得到了优化。优化是一项详尽的优化，完成了 5600 次独特的模拟，其中包括车辆流体动力学、碰撞动力学和控制器。所呈现的对接设计的独特之处在于能够通过其简化的漏斗设计和对接适配器的使用来支持不同尺寸级别的各种车辆，这在 Dolphin II AUV 和 Bluefin SandShark 的模拟中得到了验证。对接系统中唯一与车辆接触的部分是标准化的对接适配器，它是天线桅杆的直接替代品。所提出的对接系统成本低、结构紧凑，并且可以部署在包括移动对接在内的各种情况下。