Download or read book Shallow Water Stationkeeping of an Autonomous Underwater Vehicle The Experimental Results of a Disturbance Compensation Controller written by and published by . This book was released on 2005 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The continual development of computer technology has enabled the expansion of intelligent control into the field of underwater robots, where potential uses include oceanographic research, environmental monitoring and military mine countermeasures. With the naval focus shifting to operations in the littorals, and the need to lower cost of operations, tetherless autonomous vehicles are now being proposed for use in very shallow water minefield reconnaissance. These areas are dominated by a highly energetic environment arising from waves and currents. Motion control in such an environment becomes a difficult task and is the subject of this work. The main objective of this paper is to show that intervention tasks performed by intelligent underwater robots are improved by their ability to gather, learn and use information about their working environment. Using a new generalized approach to the modeling of underwater vehicles, which directly includes disturbance effects, a new Disturbance Compensation Controller (DCC) is proposed. The DCC, employing onboard vehicle sensors, allows the robot to learn and estimate the seaway dynamics. This self-derived knowledge is embedded in a non-linear sliding mode control law which allows significantly improved motion stabilization. The performance of the DCC has been experimentally verified in Monterey Harbor using the NPS Phoenix AUV.
Download or read book Shallow Water Station Keeping of AUVs Using Multi Sensor Fusion for Wave Disturbance Prediction and Compensation written by and published by . This book was released on 2005 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important capability for Autonomous Underwater Vehicles (AUVs) is station keeping. Station keeping is the ability of a vehicle to maintain position and orientation with regard to a reference object. In shallow water this mission most likely will be disrupted by the large wave induced hydrodynamic forces acting on the vehicle. To counter this problem, knowledge of these wave induced disturbances is critical to allow for the design of a control system that will enable the vehicle to accurately navigate and position itself. The ability to develop a so called "predictive" control strategy for underwater vehicles is limited by the methods available to measure and predict the wave induced disturbances. Surface vessels may employ remote sensors such as acoustic probes, lasers or short wavelength radar to determine future disturbances, but this remote sensing is not feasible in a low cost underwater vehicle. AUV control system design is limited to the use of on board sensors for disturbance prediction. In this paper, we present the design of a Sliding Mode Controller (SMC) that employs multisensor data fusion for wave disturbance prediction/estimation. Using data obtained from the vehicle's Doppler, Acoustic Doppler Velocimeter (ADV) and motion package, a dynamic filter is developed that will fuse the information from the various sensors and provide the controller with an estimate of the wave induced disturbance, thus allowing the vehicle to station keep in both heading and position with far greater accuracy.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Download or read book Model Based Predictive Control of AUVs for Station Keeping in a Shallow Water Wave Environment written by and published by . This book was released on 2005 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important consideration for Autonomous Underwater Vehicles in shallow water is station keeping. Station keeping is the ability of the vehicle to maintain position and orientation with regard to a reference object. In shallow water AUV operations, where large hydrodynamic forces are developed due to waves, knowledge of the sea is critical to allow for the design of a control system that will enable the vehicle to accurately navigate and position itself while in the presence of non-deterministic disturbances. Recently it has been shown that it is possible to measure the shape of the sea surface using remote sensors such as acoustic probes, lasers or short wavelength radar. These measurements have made it possible to develop so called "predictive" control strategies for many surface applications including hydrofoil operations and craning operations between vessels. The ability to develop predictive control strategies for underwater vehicles is limited by the ability to measure the environmental disturbances acting on the vehicle. In this paper we describe the design of a model based predictive controller that employs sub-surface sensors for disturbance prediction, to reduce wave induced effects on vehicle station keeping. Using linear wave theory and recursive estimation, an Auto Regressive (AR) model of the sea spectrum is developed. This dynamic model is then used to develop a forward predictor/estimator which is embodied in the controller to cancel the predictable portion of the non-deterministic disturbance on the vehicle thereby minimizing position error. Through simulation the ability of the Naval Postgraduate School's "PHOENIX" AUV to maintain longitudinal position while subjected to actual wave disturbance data from coastal Monterey Bay is shown.
Download or read book Information Technology Convergence written by James J. (Jong Hyuk) Park and published by Springer Science & Business Media. This book was released on 2013-07-14 with total page 1052 pages. Available in PDF, EPUB and Kindle. Book excerpt: Information technology and its convergence issue is emerging rapidly as an exciting new paradigm with user-centric environment to provide computing and communication services. This area will be the most comprehensive topics with various aspects of advances in information technology and its convergence services. This book covers all topics as computational science and applications, electronics engineering, manufacturing technology, services, technical skill to control the robot, automatic operation and application, simulation and testing communication and many more.
Download or read book Oceans 2000 MTS IEEE written by and published by . This book was released on 2000 with total page 802 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Download or read book Seaway Learning and Motion Compensation in Shallow Waters for Small AUVS written by Jeffrey Scott Riedel and published by . This book was released on 1999-06-01 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: The continual development of computer technology has enabled the expansion of intelligent control into the field of underwater robots, where potential uses include oceanographic research, environmental monitoring and military mine countermeasures. With the naval focus shifting to operations in the littorals, and the need to lower cost of operations, tetherless autonomous vehicles are now being proposed for use in very shallow water minefield reconnaissance. These areas are dominated by a highly energetic environment arising from waves and currents. Motion control in such an environment becomes a difficult task and is the subject of this work. The main objective of this dissertation, is to show through modeling and simulation, and in-ocean experimental validation, that intervention tasks performed by intelligent underwater robots are improved by their ability to gather, learn and use information about their working environment. Using a new generalized approach to the modeling of underwater vehicles, which directly includes disturbance effects, a new Disturbance Compensation Controller (DCC) is proposed. The DCC, employing onboard vehicle sensors, allows the robot to learn and estimate the seaway dynamics. This self-derived knowledge is embedded in a non-linear sliding mode control law which allows significantly improved motion stabilization. The performance of the DCC has been verified in Monterey Harbor using the NPS phoenix AUV.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2003-01-08 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
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 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 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 175 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 Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th
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 Six Degree of Freedom Vehicle Controller Design for the Operation of an Unmanned Underwater Vehicle in a Shallow Water Environment written by Michael F. Hajosy and published by . This book was released on 1994 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of motion. This coupling between an UUV's six degrees of freedom (6 DOF) is particularly important when attempting complex maneuvers such as coordinated turns (e.g. simultaneous dive and heading change) or vehicle hovering in such an environment. Given the parameter and modelling uncertainties endemic to these equations of motion, then a robust 6 DOF sliding controller employing six-element vector sliding surfaces provides a framework in which satisfactory UUV control can be achieved in shallow water. The vehicle equations of motion are developed and cast in a form that is amenable to non-linear sliding control design. A complete 6 DOF sliding controller with vector sliding surfaces is then formulated via a Lyapunov-like analysis. The sliding controller is then modified via a weighted least-squares approach to work with a particular UUV which has only 4 DOF control authority available. The modified controller is shown to work well for a variety of commanded UUV maneuvers in the presence of significant environmental disturbances and vehicle hydrodynamic parameter uncertainties via numerical simulation. Use of the signals generated by the controller are shown to be of utility in vehicle buoyancy control.
Download or read book Efficient Control Based on a Verified Model for an Autonomous Underwater Vehicle written by Jamie Marie Anderson and published by . This book was released on 1992 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being developed for scientific study of the deep ocean sea:floor. ABE will be completely autonomous from the surface which means that the lifetime of the mission will depend largely on how the vehicle is controlled. An accurate system model is critical for the controller development and trajectory planning. A model of the ABE vehicle dynamics is formulated for surge, heave and pitch motions. These motions in the lon, gitudinal plane are particularly important for the basic ABE trajectories of forward flight, depth changes and maneuvers involving both. A scale model of the ABE vehicle was towed to determine the lift/drag relationships to nonzero angles of attack. The experimental results are used in conjunction with traditional analytical techniques to generate a model of the longitudinal dynamics. The ABE model was studied in simulation over anticipated vehicle trajectories. A proportional plus derivative controller and a sliding mode controller were developed for tracking control. The power consumptions for different controllers and trajectories are examined. The results of this study will be incorporated in the final ABE design.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2018-04-05 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
