Download or read book A Hybrid Control Architecture for an Autonomous Underwater Vehicle AUV written by Georgios A. Demetriou and published by . This book was released on 1998 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Backseat Control Architecture for Autonomous Robotic Vehicles A Case Study with the Iver2 AUV written by and published by . This book was released on 2010 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this paper, an innovative hybrid control architecture for real-time control of autonomous robotic vehicles is described as well as its implementation on a commercially available autonomous underwater vehicle (AUV). This architecture has two major components, a behavior-based intelligent autonomous controller and an interface to a classical dynamic controller that is responsible for real-time dynamic control of the vehicle given the decisions of the intelligent controller over the decision state space (e.g. vehicle course, speed, and depth). The driving force behind the development of this architecture was a desire to make autonomy software development for underwater vehicles independent from the dynamic control specifics of any given vehicle. The resulting software portability allows significant code reuse and frees autonomy software developers from being tied to a particular vehicle manufacturer's autonomy software and support as long as the vehicle supports the required interface between the intelligent controller and the dynamic controller. This paper will describe in detail the components of the backseat driver architecture as implemented on the Iver2 underwater vehicle, provide several examples of its use, and discuss the future direction of the architecture.

Download or read book DEPSCOR Research on ARL s Intelligent Control Architecture Hierarchical Hybrid Model Based Design Verification Simulation and Synthesis of Mission Control for Autonomous Underwater Vehicles written by and published by . This book was released on 2007 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research, our goal has been to develop hierarchical hybrid mission control architecture for autonomous systems illustrating its application to autonomous underwater vehicle (AUV), verify the logical correctness of the controller designed, look into the feasibility of simulating the operations executed by the AUV, and automate controller synthesis. The correct operation of a system we design is a requirement. The challenge to develop a hierarchical hybrid mission controller for underwater vehicle which facilitates modeling, verification, simulation and automated synthesis of coordinators has lead to research in this area. We have worked and are working on these issues with Applied Research Laboratory (ARL) at Pennsylvania State University (PSU) who have designed autonomous underwater vehicles for over 50 years primarily under the support of the U.S. Navy through the Office of Naval Research (ONR).

Download or read book Adresse de la municipalit de la ville de Paris le 17 juin 1790 sur l alienation la vente des biens ecclesiastiques domaniaux written by and published by . This book was released on 1790 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Intelligent Autonomy for Unmanned Marine Vehicles written by Carlos C. Insaurralde and published by Springer. This book was released on 2015-06-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

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 Hybrid Control of Mission and Motion written by and published by . This book was released on 1996 with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an experimental implementation and verification of a hybrid (mixed discrete state/ continuous state) controller for semi-autonomous and autonomous underwater vehicles in which the missions imply multiple task robot behavior. An overview of some of the missions being considered for this rapidly developing technology is mentioned including environmental monitoring, underwater inspection, geological survey as well as military missions in mine countermeasures. The functionalities required of such vehicles and their relation to 'intelligent control' technology is discussed. In particular, the use of Prolog as a computer language for the specification of the discrete event system (DES) aspects of the mission control is proposed. The connections between a Prolog specification and the more common Petri Net graphical representation of a DES are made Links are made between activation commands, transitioning signals. and the continuous state dynamic control system (DC S) responsible for vehicle stabilization. Details are given of the NPS Phoenix vehicle implementation at the present time, together with experimental validation of the concepts outlined using a simplified example mission. The paper ends with a listing of questions and concerns for the evaluation of software controllers A list of references is given for readers interested in this subject.

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 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 Hybrid System Architectures for Coordinated Vehicle Control written by Anouck Renée Girard and published by . This book was released on 2002 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Summary of Research 1995 written by United States. Naval Postgraduate School, Monterey, CA. and published by . This book was released on 1995 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Autonomous Systems written by Ulrich Rembold and published by IOS Press. This book was released on 1995 with total page 746 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text presents the proceedings of a conference on intelligent autonomous systems. Papers contribute solutions to the task of designing autonomous systems that are capable of operating independently of a human in partially structured and unstructured environments. For specific application, these systems should also learn from their actions in order to improve and optimize planning and execution of new tasks.

Download or read book Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle AUV written by Bradley J. Leonhardt and published by . This book was released on 1996-03-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School Autonomous Underwater Vehicle (AUV), Phoenix, has a well developed lower level architecture (Execution level) while the upper, Strategic and especially the Tactical, levels need refinement. To be useful in the fleet an easier means of creating mission code for the Strategic level is required. A software architecture needed to be implemented at the Tactical level on-board Phoenix which can accommodate multi-processes, multi- languages, multiprocessors and control hard real time constraints existing at the Execution level. Phoenix also did not have a path replanning capability prior to this thesis. The approach taken is to provide Phoenix a user friendly interface for the autogeneration of human readable mission code and the creation and implementation of a Tactical level control architecture onboard Phoenix to include path replanning. The approach utilizes Rational Behavior Model (RBM) architectural design principles. This thesis focuses on the Officer of the Deck and replanning at the Tactical level, and refinement of the Captain at the Strategic level. While further testing is necessary, Phoenix is now capable of behaving as a truly autonomous vehicle. Results of this thesis show that nontechnical personnel can generate Prolog code to perform missions on-board Phoenix. Path replanning and obstacle avoidance software are also implemented. Most important this thesis demonstrates successful operation of all three levels of the RBM architecture on-board Phoenix.

Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.

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 Fundamental Design and Automation Technologies in Offshore Robotics written by Hamid Reza Karimi and published by Academic Press. This book was released on 2020-10-06 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental Design and Automation Technologies in Offshore Robotics introduces technological design, modelling, stability analysis, control synthesis, filtering problem and real time operation of robotics vehicles in offshore environments. The book gives numerical and simulation results in each chapter to reflect the engineering practice yet demonstrate the focus of the developed analysis and synthesis approaches. The book is ideal to be used as a reference book for senior and graduate students. It is written in a way that the presentation is simple, clear, and easy to read and understand which would be appreciated by graduate students. Researchers working on marine vehicles and robotics would be able to find reference material on related topics from the book. The book could be of a significant interest to the researchers within offshore and deep see society, including both academic and industrial parts. - Provides a series of latest results in, including but not limited to, motion control, robotics, and multi-vehicle systems towards offshore environment - Presents recent advances of theory, technological aspects, and applications of robotics in offshore environment - Offers a comprehensive and up-to-date references, which plays an indicative role for further study of the reader