Download or read book Cooperative Control and Fault Recovery for Network of Heterogeneous Autonomous Underwater Vehicles written by Maria Enayat and published by . This book was released on 2017 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is to develop cooperative recovery control schemes for a team of heterogeneous autonomous underwater vehicles (AUV). The objective is to have the network of autonomous underwater vehicles follow a desired trajectory while agents maintain a desired formation. It is assumed that the model parameters associated with each vehicle is different although the order of the vehicles are the same. Three cooperative control schemes based on dynamic surface control (DSC) technique are developed. First, a DSC-based centralized scheme is presented in which there is a central controller that has access to information of all agents at the same time and designs the optimal solution for this cooperative problem. This scheme is used as a benchmark to evaluate the performance of other schemes developed in this thesis. Second, a DSC-based decentralized scheme is presented in which each agent designs its controller based on only its information and the information of its desired trajectory. In this scheme, there is no information exchange among the agents in the team. This scheme is also developed for the purpose of comparative studies. Third, two different semi-decentralized or distributed schemes for the network of heterogeneous autonomous underwater vehicles are proposed. These schemes are a synthesis of a consensus-based algorithm and the dynamic surface control technique with the difference that in one of them the desired trajectories of agents are used in the consensus algorithm while in the other the actual states of the agents are used. In the former scheme, the agents communicate their desired relative distances with the agents within their set of nearest neighbors and each agent determines its own control trajectory. In this semi-decentralized scheme, the velocity measurements of the virtual leader and all the followers are not required to reach the consensus formation. However, in the latter, agents communicate their relative distances and velocities with the agents within their set of nearest neighbors. In both semi-decentralized schemes only a subset of agents has access to information of a virtual leader. The comparative studies between these two semi-decentralized schemes are provided which show the superiority of the former semi-decentralized scheme over latter. Furthermore, to evaluate the efficiency of the proposed DSC-based semi-decentralized scheme with consensus algorithm using desired trajectories, a comparative study is performed between this scheme and three cooperative schemes of model-dependent coordinated tracking algorithm, namely the centralized, decentralized, and semi-decentralized schemes. Given that the dynamics of autonomous underwater vehicles are inevitably subjected to system faults, and in particular the actuator faults, to improve the performance of the network of agents, active fault-tolerant control strategies corresponding to the three developed schemes are also designed to recover the team from the loss-of-effectiveness in the actuators and to ensure that the closed-loop signals remain bounded and the team of heterogeneous autonomous underwater vehicles satisfy the overall design specifications and requirements. The results of this research can potentially be used in various marine applications such as underwater oil and gas pipeline inspection and repairing, monitoring oil and gas pipelines, detecting and preventing any oil and gas leakages. However, the applications of the proposed cooperative control and its fault-tolerant scheme are not limited to underwater formation path-tracking and can be applied to any other multi-vehicle systems that are characterized by Euler-Lagrange equations.

Download or read book Network Based Control of Unmanned Marine Vehicles written by Yu-Long Wang and published by Springer Nature. This book was released on 2023-05-02 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.

Download or read book Cooperative Control of Autonomous Underwater Vehicles written by Elizabeth Savage and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The proposed project is the simulation of a system to search for air vehicles which have splashed-down in the ocean. The system comprises a group of 10+ autonomous underwater vehicles, which cooperate in order to locate the aircraft. The search algorithm used in this system is based on a quadratic Newton method and was developed at Sandia National Laboratories. The method has already been successfully applied to several two dimensional problems at Sandia. The original 2D algorithm was converted to 3D and tested for robustness in the presence of sensor error, position error and navigational error. Treating the robots as point masses, the system was found to be robust for all such errors. Several real-life adaptations were necessary. A round-robin communication strategy was implemented on the system to properly simulate the dissemination of information throughout the group. Time to convergence is delayed but the system still functioned adequately. Once simulations for the point masses had been exhausted, the dynamics of the robots were included. The robot equations of motion were described using Kane's equations. Path-planning was investigated using optimal control methods. The Variational Calculus approach was attempted using a line search tool "fsolve" found in Matlab and a Genetic Algorithm. A dynamic programming technique was also investigated using a method recently developed by Sandia National Laboratories. The Dynamic Programming with Interior Points (DPIP) method was a very effcient method for path planning and performed well in the presence of system constraints. Finally all components of the system were integrated. The motion of the robot exactly matched the motion of the particles, even when subjected to the same robustness tests carried out on the point masses. This thesis provides exciting developments for all types of cooperative projects.

Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Download or read book Fault Detection and Isolation in a Networked Multi vehicle Unmanned System written by Nader Meskin and published by . This book was released on 2008 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Control of Unmanned Surface Vessels and Unmanned Underwater Vessels for Asset Protection written by Gabriel Ying Kit Tang and published by . This book was released on 2015 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project focused on the development of a control system for a heterogeneous swarm of unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) used for asset protection. The control system utilizes a hybrid control scheme, relying on both behavior-based and systems-theoretic concepts. Under this hybrid approach, the swarm is provided with better adaptability, robustness, and overall performance than it would possess under either of these methods alone. Simulations demonstrate the efficacy of the controller for the primary task (asset protection) as well as several secondary tasks. The first part of this project focused on generating the capability functions, designing the primary and secondary controller and utilizing simulations in different environments to ensure that the controller works as desired. The second part of the project then focused on the hybrid aspect of the swarm, where long baseline technique were used in order to localize the UUV and to mitigate capability degradation in the sub-surface domain. The ability to interdict targets on the surface and the sub-surface was also considered and included as part of the capability control system. The results of this experiment provide a robust, adaptable, and highly mission-capable control system for a cooperative swarm of USVs and UUVs. This in turn will provide the foundation for future systems of a cooperative nature.

Download or read book Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles written by Xianbo Xiang and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles.

Download or read book Cooperative Control and Optimization of Autonomous Surface and Underwater Platforms in Complex Marine Environments written by Boris Braginsky and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous Underwater Vehicles (AUVs) have become an important tool for the exploration of the secret undersea world. They are widely used in the areas of oceanographic, commercial and military research and have been employed to inspect pipelines. Today, the main task performed by AUVs is data logging, where a major drawback lies in the fact that the data is only available to the operator at the end of the mission. Since most AUVs are only capable of performing noncomplex unsupervised missions, most operators remain within a range of acoustic telemetry systems to maintain a close watch on their precious asset. However, with the increased utilization of these vehicles in subsea applications in recent years, the development of sophisticated AUVs has become a high priority research area and the need to enhance platform efficiency has become urgent. In this research, we consider AUVs that are described by a multi-variable, highly non-linear system, whose coupled dynamic effects depend on complicated hydrodynamic generalized forces and variables. Cooperation techniques that take into account the vehicle dynamics and sensor modalities were studied. The modeled system is based on state-of-the-art sensor arrays and microelectronic circuits and includes advanced hardware for real-time data processing. The dynamic and hydrodynamic variables of the system, as well as cooperative control strategies, are investigated. The control laws are implemented using advanced sensing systems, including cameras and ultrasound, Global Position System (GPS), Doppler Velocity Log (DVL) and Inertial Measurement Unit (IMU) devices. These sensors are designed to provide accurate information on vehicle location, trajectories, velocity and orientation with respect to the North. The primary objective of the research was to find ways to enhance the capabilities of fleets of AUVs by cooperation between them." -- From the astract.

Download or read book Underwater Vehicles written by Alexander Inzartsev and published by IntechOpen. This book was released on 2009-01-01 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.

Download or read book Fault Detection and Isolation written by Nader Meskin and published by Springer. This book was released on 2014-10-01 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Fault Detection and Isolation: Multi-Vehicle Unmanned System” deals with the design and development of fault detection and isolation algorithms for unmanned vehicles such as spacecraft, aerial drones and other related vehicles. Addressing fault detection and isolation is a key step towards designing autonomous, fault-tolerant cooperative control of networks of unmanned systems. This book proposes a solution based on a geometric approach, and presents new theoretical findings for fault detection and isolation in Markovian jump systems. Also discussed are the effects of large environmental disturbances, as well as communication channels, on unmanned systems. The book proposes novel solutions to difficulties like robustness issues, as well as communication channel anomalies. “Fault Detection and Isolation: Multi-Vehicle Unmanned System” is an ideal book for researchers and engineers working in the fields of fault detection, as well as networks of unmanned vehicles.

Download or read book Tracking Control for Autonomous Underwater Vehicles written by Joseph J. Keller and published by . This book was released on 2002-12-01 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recovery of Autonomous Underwater Vehicles (AUVs) can often be an autonomous operation itself. In the case of an AUV that is launched and recovered at some significant depth below the surface, the recovery platform to which the vehicle will dock is often not a stationary platform. The recovery cage/platform has dynamics associated with it, which are induced by wave motion effects on the ship to which the cage is tethered. In order to successfully recover a vehicle into a cage platform it will be preferred for the vehicle to have the capability to compensate for this motion when making its final approach to the cage. Using active compensation, a smaller cage can be utilized for recovery of an AUV. This research attempts to investigate a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller.

Download or read book Fault Recovery in Underwater Vehicles Using Robust Reconfigurable Control written by Philip P. Soucacos and published by . This book was released on 2006 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube written by Duane T. Davis and published by . This book was released on 1996-09-01 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.

Download or read book Cooperative Autonomous Underwater Vehicles Used to Search Large Ocean Areas for Mines written by and published by . This book was released on 2009 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: The overall objective of the research was to develop and apply strategies for autonomous collaboration among UUVs to search for underwater mines. We successfully simulated six behavior modules including Navigation and Formation Control, Vehicle Replacement, Divert to MLO for Inspection, Leader Replacement, Deployment and Recovery, and Multi-Vehicle Sensing. All these modules were implemented and simulated on the MOOS platform except for Multi-Vehicle Sensing. We also defined and developed a mapping strategy for UUVs. The Ul strategy creates a multi-layered map of the search space that contains information about fleet UUV positions, area coverage, low-resolution MLO position estimates, dangerous areas, and high-resolution MLO position estimates. We developed a fuzzy logic Supervisor/Planner module that operates in both a centralized and decentralized fashion to satisfy a variety of constraints and optimize time and energy resources for a fleet of UUVs. With these results we have satisfied all the requirements of our Baseline funding. In addition, we modified our communication protocol to a token-passing architecture in order to implement the UC2I reference mission using our modules with the Backseat/Front seat paradigm. We also located and bench tested a small Linux board in order to implement MOOS with a "backseat driver" paradigm on our UUVs.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book International Aerospace Abstracts written by and published by . This book was released on 1999 with total page 974 pages. Available in PDF, EPUB and Kindle. Book excerpt: