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 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 Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 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 Information Systems for Divers and Autonomous Underwater Vehicles Operating in Very Shallow Water and Surf Zone Regions written by and published by . This book was released on 1999 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Conference Proceedings written by and published by . This book was released on 1998 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Oceans 98 written by and published by . This book was released on 1998 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Manufacturing Modeling Management and Control MIM 2000 written by Peter P. Groumpos and published by Pergamon. This book was released on 2001 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Proceedings contains the papers presented at the IFAC Symposium on Manufacturing, Modeling, Management and Control (MIM 2000), held in Patras, Greece, on 12-14 July 2000. MIM is a long-running series of IFAC meetings featuring the best work on the development, comparison and classification of manufacturing systems. In this Proceedings, key engineering topics, such as agile manufacturing and intelligent manufacturing, are presented alongside more management-related issues as well as some of the fundamental control theory applicable to these areas. Altogether, over 90 papers are presented.
Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1998 with total page 1270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.
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 Leveled Flight Control of an Unmanned Underwater Vehicle Operating in a Wave Induced Environment written by Joshua J. Potesta and published by . This book was released on 2014 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 rad/sec, and the wave prediction improves the depth control on the order of 0.03 meters.
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 Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by FRANCESCO. FANELLI and published by Springer. This book was released on 2019-06-04 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Guidance and Control for Small AUVs Using DGPS and Doppler Aided Inertial Underwater Navigation written by and published by . This book was released on 2005 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its guidance, navigation and control performance. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multi-rate, multi-process software architecture for ARIES autonomous control is provided. The architecture is designed to operate using either a single computer processor or two independent, cooperating processors linked through a network interface for improved load balancing. A dual computer implementation is presented here since each processor assumes different tasks for mission operation. Also included is a section on the underwater navigation method using a real-time extended Kalman filter that fuses all sensor data and computes the real time position, orientation, velocity, etc., of the vehicle. Experimental results for navigational accuracy using a DGPS / IMU / Doppler aided navigation system are presented with DGPS pop-up maneuvers.
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Download or read book Coral Reef Remote Sensing written by James A. Goodman and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 446 pages. Available in PDF, EPUB and Kindle. Book excerpt: Remote sensing stands as the defining technology in our ability to monitor coral reefs, as well as their biophysical properties and associated processes, at regional to global scales. With overwhelming evidence that much of Earth’s reefs are in decline, our need for large-scale, repeatable assessments of reefs has never been so great. Fortunately, the last two decades have seen a rapid expansion in the ability for remote sensing to map and monitor the coral reef ecosystem, its overlying water column, and surrounding environment. Remote sensing is now a fundamental tool for the mapping, monitoring and management of coral reef ecosystems. Remote sensing offers repeatable, quantitative assessments of habitat and environmental characteristics over spatially extensive areas. As the multi-disciplinary field of coral reef remote sensing continues to mature, results demonstrate that the techniques and capabilities continue to improve. New developments allow reef assessments and mapping to be performed with higher accuracy, across greater spatial areas, and with greater temporal frequency. The increased level of information that remote sensing now makes available also allows more complex scientific questions to be addressed. As defined for this book, remote sensing includes the vast array of geospatial data collected from land, water, ship, airborne and satellite platforms. The book is organized by technology, including: visible and infrared sensing using photographic, multispectral and hyperspectral instruments; active sensing using light detection and ranging (LiDAR); acoustic sensing using ship, autonomous underwater vehicle (AUV) and in-water platforms; and thermal and radar instruments. Emphasis and Audience This book serves multiple roles. It offers an overview of the current state-of-the-art technologies for reef mapping, provides detailed technical information for coral reef remote sensing specialists, imparts insight on the scientific questions that can be tackled using this technology, and also includes a foundation for those new to reef remote sensing. The individual sections of the book include introductory overviews of four main types of remotely sensed data used to study coral reefs, followed by specific examples demonstrating practical applications of the different technologies being discussed. Guidelines for selecting the most appropriate sensor for particular applications are provided, including an overview of how to utilize remote sensing data as an effective tool in science and management. The text is richly illustrated with examples of each sensing technology applied to a range of scientific, monitoring and management questions in reefs around the world. As such, the book is broadly accessible to a general audience, as well as students, managers, remote sensing specialists and anyone else working with coral reef ecosystems.
Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-04-16 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz
