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 Control Design for Highly Maneuverable Autonomous Underwater Vehicles written by Ronald Poirrier and published by . This book was released on 2001 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 The Design Construction Outfitting and Preliminary Testing of the C SCOUT Autonomous Underwater Vehicle AUV written by Timothy Curtis and published by . This book was released on 2001 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advanced Non Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles AUVs written by and published by . This book was released on 2007 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: An increasing variety of sensors are becoming available for use onboard autonomous vehicles. Given these enhanced sensing capabilities, scientific and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to function in complex, cluttered environments and react to changing environmental parameters. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. In this research, a nonlinear controller was derived, designed, implemented in simulation and onboard a AUV, and in-water tested in order to enhance vehicle maneuverability. The structure of a controller is hierarchical such that an inner loop non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a library of outer-loop non-linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner which selects which outer-loop controller will be used. The algorithms are generic and in no way vehicle specific and can therefore be implemented on various AUVs.
Download or read book Design of an Autonomous Underwater Vehicle to Evaluate the Blazed Array Sonar and Simultaneous Localization and Mapping Algorithms written by Matthew William Uhle and published by . This book was released on 2007 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis has investigated aspects of the design of a new highly maneuverable Autonomous Underwater Vehicle - the XAUV. The overall goal for the design of this vehicle is to create a small, highly maneuverable AUV that can perform autonomous ship hull inspection. Our work towards this goal was targeted to three different aspects: (1) contributions to the conceptual design of the overall vehicle, (2) specification and acquisition of the electronic components of the vehicle, including its main CPU, and (3) mechanical design of selected components, including the ship's hull, servo-controlled fin system, and blazed array sonar nose cone. These contributions have helped to improve and realize the design of the first prototype XAUV, which is expected to be completed in May, 2007, through the work of other members of the design team.
Download or read book XAUV written by Daniel George Walker and published by . This book was released on 2009 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power plant, with capability to support azimuthing thrusters and a 2DOF front sensor assembly. Through an application of lean principles to developmental hardware, the notion of a delayed differentiation is isolated as a key to minimizing rework and creating essentially transparent electronic hardware. Additionally, the use of bus-modular structural and electronic interconnects facilitates reconfiguration of the vehicle across a large range of components, allowing the rapid development of new sensors, control algorithms, and mechanical hardware. Initial wet tests confirm basic data acquisition capabilities and allowed sensor fusion of scanning sonar returns at the beam level with data from an IMU for an orientation-corrected sonar mosaic.
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 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 Control Configured Design for Smooth Highly maneuverable Underwater Vehicles written by Anirban Mazumdar and published by . This book was released on 2013 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: We describe the development of a new type of robotic underwater vehicle designed specifically for the inspection of critical infrastructures such as boiling water reactor nuclear power plants. These applications require vehicles that can access confined areas, maneuver precisely, and move easily in several directions. In addition, external appendages such as fins or propellers should be avoided in order to reduce the risk of damage through collisions. We propose a smooth, spheroid shaped vehicle that uses an internal propulsion system to generate and direct water-jets for propulsion and maneuvering. Drawing inspiration from aeronautics and ocean engineering, we treat this system as a control-configured vehicle (CCV) and design the system specifically for superior control performance. Like many modern CCV aircraft, our robot is designed to be open loop unstable in order to avoid bulky external stabilizers. We refer to this new type vehicle as a Control Configured Spheroidal Vehicle (CCSV). An integrated pump-valve maneuvering system is developed by combining powerful centrifugal pumps with compact Coanda-effect valves. This system is used to design and construct a compact, multi-degree-of-freedom (DOF) prototype vehicle. To achieve precision orientation control, high speed valve switching is exploited using a unique Pulse Width Modulation (PWM) control scheme. Dead zones and other complex nonlinear dynamics of traditional propeller thrusters and water jet pumps are avoided with use of integrated pump-valve control. Three simple control algorithms for coordinating valve switching and pump output are presented and are verified through experiments. Planar control is complicated by the presence of hydrodynamic instability. A dynamic control system that augments stability and achieves high maneuverability is outlined and implemented. A nonlinear hydrodynamic model is formulated, and its linearized dynamics are analyzed to attain insights into how physical design parameters, such as jet direction and body shape, influence controllability and stability. The integrated design method is implemented and shown to achieve high maneuverability and stability. Finally, this thesis concludes with a discussion on broader CCSV design approaches. The vehicle open loop dynamics are studied and a plant zero is shown to significantly influence closed loop performance. Jet angle and vehicle shape are explored through the lens of optimizing this plant zero location, and design recommendations are presented for both ideal and practical situations. These lessons can be used to design new CCSV systems for a variety of scales and applications.
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 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 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 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 Autonomous Underwater Vehicle Manoeuvrability Studies written by and published by . This book was released on 2010 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems 3rd ICAUS 2023 written by Yi Qu and published by Springer Nature. This book was released on with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt:
