Download or read book Manoeuvring an Autonomous Underwater Vehicle written by Paul Desmond McLeish and published by . This book was released on 2004 with total page 90 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 Full Scale Manoeuvring Trials with the Remus Autonomous Underwater Vehicle written by Daniel E. Sgarioto and published by . This book was released on 2008 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Optimal Fault Detection and Resolution During Maneuvering for Autonomous Underwater Vehicles written by Andrew S. Gibbons and published by . This book was released on 2000 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to increase robustness, reliability, and mission success rate, autonomous vehicles must detect debilitating system control faults. Prior model-based observer design for 21UUV was analyzed using actual vehicle sensor data. It was shown, based on experimental response, that residual generation during maneuvering was too excessive to detect manually implemented faults. Optimization of vehicle hydrodynamic coefficients in the model significantly decreased maneuvering residuals, but did not allow for adequate fault detection. Kalman filtering techniques were used to improve residual reduction during maneuvering and increase residual generation during fault conditions. Optimization of the Kalman filter's system noise matrix, measurement noise matrix, and input gain scalar multiplier produced fault resolution which allowed for accurate detection of fault of relatively minor magnitude within minimal time constraints.
Download or read book CFD Simulation of an Unmanned Underwater Vehicle Manoeuvring written by Zeeshan Riaz and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book CFD Simulation of an Unmanned Underwater Vehicle Manoeuvring written by and published by . This book was released on 2015 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Analysis of Full scale Sea trials Manoeuvring Data and Development and Validation of a Motion simulation Model for the AUV MUN Explorer written by Manoj Thomas Issac and published by . This book was released on 2011 with total page 794 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Maneuvering Performance of Autonomous Underwater Vehicles written by and published by . This book was released on 2006 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: High-fidelity linear pitch and yaw dynamic models were developed for a class of autonomous underwater vehicles manufactured by Bluefin Robotics Corporation, based on analysis and field data. Classical control design was then carried out and successfully tested. An algorithm for automatic identification of these models, followed by automatic specification of gains, was developed and delivered to Bluefin. We also created modeling and control schemes for the ONR hovering autonomous underwater vehicle (HAUV), that was developed jointly by MIT and Bluefin; this vehicle has now successfully performed hull surveys on five vessels. Finally, we have applied stochastic simulation techniques to general control problems (which include vehicle maneuvering), illustrating new methods for assessing basic stability and for performing control gain selection in nonlinear systems.
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 Biomimetic Improvement of the Maneuvering Qualities of Unmanned Underwater Vehicles written by Yuri Trakht and published by . This book was released on 2019 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, biomimetics has been used as a source of inspiration to improve the performance of engineered systems in several disciplines. In this thesis, we emulate the function of the retractable dorsal fins in tunas to improve the maneuvering performance of a typical autonomous underwater vehicle, the REMUS 100 AUV. We are introducing dorsal-like fins on the AUV that can be erected to alter its maneuvering hydrodynamic coefficients, and hence affect the transient and steady-state turning response. In order to study systematically the effect of adding dorsal fins, we built a six degrees of freedom simulation model of the REMUS AUV. The model included body and rudder lift forces and moments, added mass forces and moments, gyroscopic and centrifugal forces, drag forces and moments, and body forces and moments such as buoyancy and gravity terms. To target the horizontal plane maneuvering characteristics, we reduced the model to a 3 DOF simulation, allowing the dorsal fin to vary in area, location along the length of the AUV, as well as having a turning angle with respect to the REMUS x-axis. We find that the addition of the fin can improve the performance, as measured by the radius of turning and rate of turning, moderately only when placed ahead of the center of gravity. However, when the dorsal fin is also allowed to rotate in the opposite direction that the rudder, substantial improvement in maneuvering performance is noted, increasing the turning rate up to 25%.
Download or read book Dynamic Response and Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering written by Lauren Alise Cooney and published by . This book was released on 2009 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of azimuthing thrusters for maneuvering in surge and heave. An analytical model was developed to describe the complex nonlinear vehicle dynamics, and experiments were performed to refine this model. The fluid dynamics of unsteady azimuthing marine propulsors are largely unstudied, especially for small vehicles like the Odyssey IV AUV. Experiments suggest that thrust developed by an azimuthing propulsor is dependent on the azimuth angle rate of change, and can substantially affect vehicle dynamics. A simple model capturing the effects of azimuthing on the thruster dynamics is developed, and is shown to improve behavior of the model.The use of azimuthing thrusters presents interesting problems and opportunities in maneuvering and control. Nonlinear model predictive control (MPC) is a technique that consists of the real-time optimization of a nonlinear dynamic system model, with the ability to handle constraints and nonlinearities. In this work, several variations of simulated and experimental MPC-based controllers are investigated. The primary challenge in applying nonlinear MPC to the Odyssey IV is solving the time intensive trajectory optimization problem online. Simulations suggest that MPC is able to capitalize on its knowledge of the system, allowing more aggressive trajectories than a traditional PID controller.
Download or read book Real Time Adaptive Control of an Autonomous Underwater Vehicle AUV written by Michael H. Davis and published by . This book was released on 1989 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Download or read book Autonomous Underwater Vehicles written by Nuno Cruz and published by BoD – Books on Demand. This book was released on 2011-10-21 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are remarkable machines that revolutionized the process of gathering ocean data. Their major breakthroughs resulted from successful developments of complementary technologies to overcome the challenges associated with autonomous operation in harsh environments. Most of these advances aimed at reaching new application scenarios and decreasing the cost of ocean data collection, by reducing ship time and automating the process of data gathering with accurate geo location. With the present capabilities, some novel paradigms are already being employed to further exploit the on board intelligence, by making decisions on line based on real time interpretation of sensor data. This book collects a set of self contained chapters covering different aspects of AUV technology and applications in more detail than is commonly found in journal and conference papers. They are divided into three main sections, addressing innovative vehicle design, navigation and control techniques, and mission preparation and analysis. The progress conveyed in these chapters is inspiring, providing glimpses into what might be the future for vehicle technology and applications.
Download or read book Observability based Maneuver Planner for Autonomous Underwater Vehicles written by 莊易勳 and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Small Autonomous Vehicle for Precision Maneuvering in Survey and R I N Missions written by and published by . This book was released on 2006 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: We designed, fabricated, and tested a new autonomous underwater vehicle system to carry out inspections of large ship hulls. The vehicle employs hull-relative navigation, so that operations can be performed without any absolute positioning data, and in poor acoustic environments. The primary payload sensor is an imaging sonar, whose data stream can be sent via fiber optic tether to a ground station for viewing. The system has been successtully demonstrated surveys and target detections on three vessels in Quincy, MA, San Diego, CA, and La Spezia, Italy. Work was performed in coordination with Bluefin Robotics Corporation, under separate ONR funding.
Download or read book A Study of Model Based Maneuvering Controls for Autonomous Underwater Vehicles written by Richard J. Boncal and published by . This book was released on 1987 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book NPS CS 92 002 written by Yuh-jeng Lee and published by . This book was released on 1992 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report describes a rule based system that has been designed to oversee the maneuvering of the autonomous underwater vehicle, AUV II, that has been constructed at the Naval Postgraduate School. The system will monitor the progress from the AUV launch point to a goal area and back to the origin. It is able to make informed decisions about the mission, taking into account the navigational path, the vehicle subsystems health, the sea environment, and the specific mission profile which is downloaded from an off-board mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies - essentially the expert knowledge of a submarine captain - have been coded using the expert system shell CLIPS. The design of a high level control software architecture for AUV II and the development of the domain specific knowledge for AUV operation are discussed in detail. Simulation results showed that the system is capable of reacting to various adverse situations in a timely manner. Expert Systems Autonomous Underwater Vehicle Rule Based Control, Mission Execution.
