Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.

Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

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 Design Study of an Autonomous Underwater Vehicle written by Yew Tung Choon and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Vehicles written by George M. Roman and published by Nova Science Publishers. This book was released on 2020 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--

Download or read book Study on the Design of a Highly Maneuverable Autonomous Underwater Vehicle written by 鄭勝文 and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Guidance and Control of Ocean Vehicles written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 1994-09-20 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.

Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by . This book was released on 2020 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by IET. This book was released on 2006-01-31 with total page 461 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Download or read book Design Fabrication and Test of an Autonomous Underwater Vehicle written by Timothy L. Stanford and published by . This book was released on 2008 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Systems Architecture Approach to the Design of Autonomous Underwater Vehicles and Their Servicing Platforms written by Brendan Kelly Horton and published by . This book was released on 2020 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles hold great potential in the realms of industry, military, scientific, and personal usage. The applications of intelligently applied autonomous functionality could improve work performed on subsea infrastructure, commercial shipping lane maintenance, canal and channel observation, search and rescue, military applications, as well as general scientific research. Given such potential, and supposing that existing technological barriers to progress could be overcome, what could a potential system architecture of future autonomous underwater vehicles look like? Fundamentally this thesis asks: “could novel architectures of AUV systems – specifically pairing AUVs to remote service platforms – lead to significant performance increases?” In approaching this subject, a specific case study is leveraged where autonomous underwater vehicles were extensively used: the search for Malaysian Air flight 370. This specific mission profile has been extensively documented by others laying a comprehensive framework. It represents the single largest search and rescue operation ever performed. Within this thesis, whole-system performance metrics of this search and rescue operation are compared against calculated performance metrics of systematically generated possible architectures. In decomposing the system into its functional elements, a deterministic evaluation is executed followed by a probabilistic examination of the system as modeled. The results of the probabilistic model are also interpreted via a Pareto ranking methodology where Pareto surfaces are identified in multidimensional tradespaces. These component cases which comprise the Pareto surface are subsequently removed from the dataset, and the process is run again. This iterative approach demonstrated that the top ten performing architectures were comprised entirely out of architectures with either one or four AUVs. The outputs of these models are subsequently compared against the baseline system used in the search for MH370. Following the analysis, a major fault was identified in the foundations of all of the models surrounding a figure of merit wherein the time to the seafloor was calculated for all architectures. All of the top ten performing design vectors – systems which contained one or four AUVs – were unchanged due to this error. Architectures which were affected by this error -- systems with more than four AUVs -- were impacted negatively. Several methods of re-imagining the error are presented herein as complexities that are inherent in the system, which are not handled by these models. These new emergent complexities were present in the system prior to the model construction, but unaccounted for. Discovery of this faulty assumption laid bare several architectural decisions which are unexplored in this thesis, but could provide the foundation for future work in this space. The outcome of these modeling efforts suggests that pairing an autonomous underwater vehicle with an autonomous service platform can result in increases in all performance metrics. Specific metrics which are improved include daily search area rate, calendar mission completion time, and total project cost. This improvement is specifically calibrated to the case study of MH370, but the performance metrics themselves are not exclusively applicable to search and rescue operations. This model indicates that such a system could accomplish the same mission in less time for half the cost. This thesis presents a vision of future autonomous underwater vehicle systems in which daily operational time, search area rates, calendar mission completion times, and total system costs can all be improved relative to the existing standards. Such improvements are equally applicable to commercial, industrial, military, civilian, and scientific endeavors in which autonomous underwater vehicles could be a potential tool.

Download or read book Design of an Autonomous Underwater Vehicle with Vision Capabilities written by Ali Jebelli and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past decade, the design and manufacturing of intelligent multipurpose underwater vehicles has increased significantly. In the wide range of studies conducted in this field, the flexibility and autonomy of these devices with respect to their intended performance had been widely investigated. This work is related to the design and manufacturing of a small and lightweight autonomous underwater vehicle (AUV) with vision capabilities allowing detecting and contouring obstacles. It is indeed an exciting challenge to build a small and light submarine AUV, while making tradeoffs between performance and minimum available space as well as energy consumption. In fact, due to the ever-increasing in equipment complexity and performance, designers of AUVs are facing the issues of limited size and energy consumption. By using a pair of thrusters capable to rotate 360o on their axis and implementing a mass shifter with a control loop inside the vehicle, this later can efficiently adapt its depth and direction with minimal energy consumption. A prototype was fabricated and successfully tested in real operating conditions (in both pool and ocean). It includes the design and embedding of accurate custom multi-purpose sensors for multi-task operation as well as an enhanced coordinated system between a high-speed processor and accustomed electrical/mechanical parts of the vehicle, to allow automatic controlling its movements. Furthermore, an efficient tracking system was implemented to automatically detect and bypass obstacles. Then, fuzzy-based controllers were coupled to the main AUV processor system to provide the best commands to safely get around obstacles with minimum energy consumption. The fabricated prototype was able to work for a period of three hours with object tracking options and five hours in a safe environment, at a speed of 0.6 m/s at a depth of 8 m.

Download or read book A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle written by Chris. A. Thompson and published by . This book was released on 1987 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) will have many operational scenarios that will include a transition from cruise to hover over a fixed position in the ocean. While hovering, the AUV must be able to balance the current induced forces a difficult task to accomplish automatically. The magnitude of these forces induced on an example AUV have been estimated for currents from 4 m/s to 1 m/s with the incident current varying from 0 deg to 360 deg. Using the estimated forces, different configurations of thrusters were investigated and the power required for different thruster configurations compared. Three thrusters (two longitudinal, one lateral) can balance the forces exactly and a unique solution was evaluated. With redundant thrusters, more economical schemes can developed using force allocation logic with minimum norm solutions. System horsepower requirements have been estimated and a conceptual model based controller methodology has been proposed. The force allocation logic proposed will now allow for a smooth transition from cruise to hover mode positions. Keywords: Theses; Stationkeeping.

Download or read book Marine Robotics and Applications written by Luc Jaulin and published by Springer. This book was released on 2017-12-29 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on findings at the intersection between two related fields, namely coastal hydrography and marine robotics. On one side, it shows how the exploration of the ocean can be performed by autonomous underwater vehicles; on the other side, it shows how some methods from hydrography can be implemented in the localization and navigation of such vehicles, e.g. for target identification or path finding. Partially based on contributions presented at the conference Quantitative Monitoring of Underwater Environment, MOQESM, held on October 11-12, 2016, Brest, France, this book includes carefully revised and extended chapters presented at the conference, together with original papers not related to the event. All in all, it provides readers with a snapshot of current methods for sonar track registration, multi-vehicles control, collective exploration of underwater environments, optimization of propulsion systems, among others. More than that, the book is aimed as source of inspiration and tool to promote further discussions and collaboration between hydrographers, robotic specialists and other related communities.

Download or read book The Design of a Navigator for a Testbed Autonomous Underwater Vehicle written by John Robert Friend and published by . This book was released on 1989 with total page 207 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.