Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-06-26 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.

Download or read book Observability Based Path Planning in Range only Localization written by Jake D. Quenzer and published by . This book was released on 2013 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: The motivations of oceanographic research have driven the development of autonomous underwater vehicles (AUVs) now capable of great feats of autonomy and endurance. It is anticipated that the future of autonomous oceanographic surveys will be conducted with mixed teams of vehicles that will reduce cost and improve data quality. In a commonly proposed scenario, a scientific survey is carried out by a group of low-cost, simplistic AUVs while a more capable vehicle tends to the group; providing communication and navigation assistance. The goal of this thesis is to explore path planning methods for the aid vehicle that aim to improve localization performance experienced by survey vehicles. The two planning methods proposed make use of local observability measures to decide an aid vehicle's steering control. Simulations are conducted to test both methods against typical survey missions to investigate their efficacy in improving localization performance.

Download or read book Three dimensional Time optimal Path Planning in Dynamic and Realistic Environments written by Chinmay Sameer Kulkarni and published by . This book was released on 2017 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are a valuable resource in several oceanic applications such as security, surveillance and data collection for ocean prediction. These vehicles typically travel at speeds comparable to ocean currents, and their movement is significantly affected by these dynamic currents. Further, the speed of currents may vary greatly with depth. Hence, path planning to generate safe and fast vehicle trajectories in such a three-dimensional environment becomes crucial for the successful operation of these vehicles. In addition, many marine vehicles can only move in specific directions and with a speed that is dependent on the direction of travel. Such constraints must be respected in order to plan safe and optimal paths. Thus, our motivation in this thesis is to study path planning for vehicles with and without motion constraints in three-dimensional dynamic flow-fields. We utilize the time-optimal path planning methodology given by Lolla et al. (2012) for this purpose. In this thesis, we first review some existing path planning methods (both in two and three-dimensional settings). Then, we discuss the theoretical basis of the rigorous partial differential equation based methodology that is utilized in order to plan safe and optimal paths. This is followed by an elaborate discussion about the application of this methodology to the various types of marine vehicles. We then look at the robust and accurate numerical methods developed in order to solve the governing equations for the path planning methodology with high accuracy in real ocean domains. We illustrate the working and capabilities of our path planning algorithm by means of a number of applications. First we study some benchmark examples with known analytical solutions. Second, we look at more complex flow-fields that analytically model different oceanic flows. Finally, we look at the path planning for different types of marine vehicles in a realistic ocean domain to illustrate the capabilities of the path planning methodology and the developed numerical framework.

Download or read book B zier and B Spline Techniques written by Hartmut Prautzsch and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 299 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a solid and uniform derivation of the various properties Bezier and B-spline representations have, and shows the beauty of the underlying rich mathematical structure. The book focuses on the core concepts of Computer Aided Geometric Design and provides a clear and illustrative presentation of the basic principles, as well as a treatment of advanced material including multivariate splines, some subdivision techniques and constructions of free form surfaces with arbitrary smoothness. The text is beautifully illustrated with many excellent figures to emphasize the geometric constructive approach of this book.

Download or read book Wireless Algorithms Systems and Applications written by Zhe Liu and published by Springer Nature. This book was released on 2021-09-08 with total page 635 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three-volume set LNCS 12937 - 12939 constitutes the proceedings of the 16th International Conference on Wireless Algorithms, Systems, and Applications, WASA 2021, which was held during June 25-27, 2021. The conference took place in Nanjing, China.The 103 full and 57 short papers presented in these proceedings were carefully reviewed and selected from 315 submissions. The following topics are covered in Part I of the set: network protocols, signal processing, wireless telecommunication systems, blockchain, IoT and edge computing, artificial intelligence, computer security, distributed computer systems, machine learning, and others.

Download or read book Computational Intelligence Methods for Green Technology and Sustainable Development written by Yo-Ping Huang and published by Springer Nature. This book was released on 2022-12-14 with total page 685 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with peer-reviewed research papers presented at the 6th International Conference on Green Technology and Sustainable Development (GTSD) held in Nha Trang City, Vietnam, from July 29 to 30, 2022. The book is original work of researchers from academia and industry focusing on the theme “Green technology and sustainable development in Industrial Revolution 4.0” not only to raise awareness of the vital importance of sustainability in education, technology, and economic development, but also to highlight the essential roles of technology innovation for the green future. The book presents a wide range of research aspects including energy engineering, electric power systems, renewable energy systems, automatic control engineering, robotics, vehicle engineering, material engineering, construction engineering, mechanical engineering, vibrations, computational analysis, numerical investigation, system failure, technological solutions in health care, and so on. Through thorough research basing on both experimental and numerical methods, the authors feature either solutions for existing problems or optimization and improvement for performance of existing methods. The collected research results could be useful alternatives and implications for industry experts, research institutions, universities, and all others who share a common interest in the future global sustainable development.

Download or read book Autonomous Underwater Vehicle AUV Path Planning and Adaptive On board Routing for Adaptive Rapid Environmental Assessment written by Ding Wang (Ph. D.) and published by . This book was released on 2007 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) As a special case, a thermocline- oriented AUV yoyo control and control parameter optimization methods for AREA are also developed. Finally, some AUV control algorithms for capturing fronts are developed. A frame-work for real-time TL forecasts is developed. This is the first time that TL forecasts have been linked with ocean forecasts in real-time. All of the above ideas and methods developed were tested in two experiments, FAF05 in the northern Tyrrhenian Sea in 2005 and MB06 in Monterey Bay, CA in 2006. The latter MB06 sea exercise was a major field experiment sponsored by the Office of Naval Research and the thesis compiles significant findings from this effort.

Download or read book 6th International Technical Conference on Advances in Computing Control and Industrial Engineering CCIE 2021 written by Yuriy S. Shmaliy and published by Springer Nature. This book was released on 2022-07-05 with total page 946 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings focus on selected aspects of recent advances and experiences, emerging technology trends that have positively impacted our world from operators, authorities and associations from around the world to help address the world’s computing, control and industrial engineering. Meanwhile, although the group that studies Computing, Control and Industrial Engineering is very large, the topics included into this proceedings have the extremely high research value. The program chair, speakers, and editors of this conference are well-known person in the industry, and CCIE2021 will also strictly select articles when calling for papers.

Download or read book Mobile Robots written by Gerald Cook and published by John Wiley & Sons. This book was released on 2020-01-09 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents the normal kinematic and dynamic equations for robots, including mobile robots, with coordinate transformations and various control strategies This fully updated edition examines the use of mobile robots for sensing objects of interest, and focus primarily on control, navigation, and remote sensing. It also includes an entirely new section on modeling and control of autonomous underwater vehicles (AUVs), which exhibits unique complex three-dimensional dynamics. Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs, Second Edition starts with a chapter on kinematic models for mobile robots. It then offers a detailed chapter on robot control, examining several different configurations of mobile robots. Following sections look at robot attitude and navigation. The application of Kalman Filtering is covered. Readers are also provided with a section on remote sensing and sensors. Other chapters discuss: target tracking, including multiple targets with multiple sensors; obstacle mapping and its application to robot navigation; operating a robotic manipulator; and remote sensing via UAVs. The last two sections deal with the dynamics modeling of AUVs and control of AUVs. In addition, this text: Includes two new chapters dealing with control of underwater vehicles Covers control schemes including linearization and use of linear control design methods, Lyapunov stability theory, and more Addresses the problem of ground registration of detected objects of interest given their pixel coordinates in the sensor frame Analyzes geo-registration errors as a function of sensor precision and sensor pointing uncertainty Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs is intended for use as a textbook for a graduate course of the same title and can also serve as a reference book for practicing engineers working in related areas.

Download or read book Colliding Bodies Optimization written by A. Kaveh and published by Springer. This book was released on 2015-06-10 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents and applies a novel efficient meta-heuristic optimization algorithm called Colliding Bodies Optimization (CBO) for various optimization problems. The first part of the book introduces the concepts and methods involved, while the second is devoted to the applications. Though optimal design of structures is the main topic, two chapters on optimal analysis and applications in constructional management are also included. This algorithm is based on one-dimensional collisions between bodies, with each agent solution being considered as an object or body with mass. After a collision of two moving bodies with specified masses and velocities, these bodies again separate, with new velocities. This collision causes the agents to move toward better positions in the search space. The main algorithm (CBO) is internally parameter independent, setting it apart from previously developed meta-heuristics. This algorithm is enhanced (ECBO) for more efficient applications in the optimal design of structures. The algorithms are implemented in standard computer programming languages (MATLAB and C++) and two main codes are provided for ease of use.

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 Path Planning of Cooperative Mobile Robots Using Discrete Event Models written by Cristian Mahulea and published by John Wiley & Sons. This book was released on 2020-01-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Download or read book Underwater Robots written by Junku Yuh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Download or read book Advances in Guidance Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2021-11-12 with total page 5416 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircraft. It covers a range of topics, including, but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation, and control. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

Download or read book Task Allocation and Path Planning for Acoustic Networks of AUVs written by Yueyue Deng and published by . This book was released on 2010 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: Controlling the cooperative behaviors of a fleet of autonomous underwater vehicles in a stochastic, complex environment is a formidable challenge in artificial intelligence. The complexity arises from the challenges of limited navigation and communication capabilities of underwater environment. A time critical cooperative operation by acoustic networks of Multiple Cooperative Vehicles (MCVs) necessitates a robust task allocation mechanism and an efficient path planning model. In this work, we present solutions to investigate two aspects of the cooperative schema for multiple underwater vehicles under realistic underwater acoustic communications: a Location-aided Task Allocation Framework (LAAF) algorithm for multi-target task assignment and a mathematical programming model, the Grid-based Multi-Objective Optimal Programming (GMOOP), for finding an optimal vehicle command decision given a set of objectives and constraints. We demonstrate that, the location-aided auction strategies perform significantly better than the generic auction algorithm in terms of effective task allocation time and information bandwidth requirements. In a typical task assignment scenario, the time needed in the LAAF algorithm is only a fraction compared to the generic auction algorithm. On the other hand; the GMOOP path planning technique provides a unique means for multi-objective tasks by cooperative agents with limited communication capabilities. Under different environmental settings, the GMOOP path planning technique is proved to provide a method with balance of sufficient expressive power and flexibility, and its solution algorithms tractable in terms of mission completion time, with a limited increase of overhead in acoustic communication. Prior to this work, existing multi-objective action selection methods were limited to robust networks where constant communication available. The dynamic task allocation, together with the GMOOP path planning controller, provides a comprehensive solution to the search-classify tasks for cooperative AUVs.

Download or read book Motion Planning for Dynamic Agents written by Zain Anwar Ali and published by BoD – Books on Demand. This book was released on 2024-01-17 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, Motion Planning for Dynamic Agents, presents a thorough overview of current advancements and provides insights into the fascinating and vital field of aeronautics. It focuses on modern research and development, with an emphasis on dynamic agents. The chapters address a wide range of complex capabilities, including formation control, guidance and navigation, control techniques, wide-space coverage for inspection and exploration, and the best pathfinding in unknown territory. This book is a valuable resource for scholars, practitioners, and amateurs alike due to the variety of perspectives that are included, which help readers gain a sophisticated understanding of the difficulties and developments in the area of study.

Download or read book Encyclopedia of Ocean Engineering written by Weicheng Cui and published by Springer Nature. This book was released on 2022-06-29 with total page 2203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This encyclopedia adopts a wider definition for the concept of ocean engineering. Specifically, it includes (1) offshore engineering: fixed and floating offshore oil and gas platforms; pipelines and risers; cables and moorings; buoy technology; foundation engineering; ocean mining; marine and offshore renewable energy; aquaculture engineering; and subsea engineering; (2) naval architecture: ship and special marine vehicle design; intact and damaged stability; technology for energy efficiency and green shipping; ship production technology; decommissioning and recycling; (3) polar and Arctic Engineering: ice mechanics; ice-structure interaction; polar operations; polar design; environmental protection; (4) underwater technologies: AUV/ROV design; AUV/ROV hydrodynamics; maneuvering and control; and underwater-specific communicating and sensing systems for AUV/ROVs. It summarizes the A–Z of the background and application knowledge of ocean engineering for use by ocean scientists and ocean engineers as well as nonspecialists such as engineers and scientists from all disciplines, economists, students, and politicians. Ocean engineering theories, ocean devices and equipment, ocean design and operation technologies are described by international experts, many from industry and each entry offers an introduction and references for further study, making current technology and operating practices available for future generations to learn from. The book also furthers our understanding of the current state of the art, leading to new and more efficient technologies with breakthroughs from new theory and materials. As the land resources approach the exploitation limit, ocean resources are becoming the next choice for the sustainable development. As such, ocean engineering is vital in the 21st century.