System Reliable Probability for Multi-AUV Cooperative Systems under the Influence of Current

2019 ◽  
Vol 72 (06) ◽  
pp. 1649-1659
Author(s):  
Qingwei Liang ◽  
Tianyuan Sun ◽  
Junlin Ou
Keyword(s):  
Marine Environment ◽  
Reliability Index ◽  
Autonomous Underwater Vehicle ◽  
Influencing Factor ◽  
Practical Method ◽  
Underwater Vehicle ◽  
Cooperative Systems ◽  
Cooperative System ◽  
Structure Selection ◽  
Selection Of

Real multi-Autonomous Underwater Vehicle (AUV) cooperative systems operate in complicated marine environments. The interaction between a multi-AUV cooperative system and its marine environment will affect the reliability of the system. Current is an important influencing factor of multi-AUV cooperative systems. A reliability index of multi-AUV cooperative systems known as System Reliable Probability (SRP) is proposed in this study. A method to calculate SRP is introduced, and the influence of current on SRP is discussed in detail. Current is considered an attack source, and the degree of its influence on SRP is calculated. As an example, the performance of this method is shown on two multi-AUV cooperative systems. Results show that the influence of the same current environment on different structures of the multi-AUV cooperative systems differs. This result provides a reference for the structure selection of multi-AUV systems. This study provides a practical method to estimate the reliability of multi-AUV cooperative systems.

Reliability analysis for mutative topology structure multi-AUV cooperative system based on interactive Markov chains model

Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1761-1772 ◽  
Author(s):  
Qingwei Liang ◽  
Tianyuan Sun ◽  
Liang Shi
Keyword(s):  
Model Checking ◽  
Markov Chains ◽  
Reliability Analysis ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Cooperative Systems ◽  
Cooperative System ◽  
Topology Structure ◽  
Capability Index ◽  
Real Practice

SUMMARYIn the real practice of multi-AUV (Autonomous Underwater Vehicle) cooperative systems, tasks or malfunctions will change the topology. The process of mutative topology structure will affect the reliability of multi-AUV cooperative system. The interactive Markov chains model, which is an intercurrent model of functional action and capability index, is selected to reflect the reliability of topology-changed multi-AUV cooperative systems. In this model, multi-AUV cooperative systems are described by the conception—“Action”. The concept of “action transfer” is used to describe the topology-changed multi-AUV cooperative system, and model checking is used to solve the interactive Markov chains, giving the probability of reliability within a certain time for the system. The result shows that the method proposed in this paper has a practical value.

scholarly journals A measure of control of submerging and surfacing of an Autonomous underwater vehicle for exploring underwater of rivers

2020 ◽  
Vol 3 (SI1) ◽  
pp. SI151-SI156
Author(s):  
Le Khanh Tan ◽  
Tran Ngoc Huy ◽  
Pham Huy Hoang
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Fixed Position ◽  
Time Service ◽  
Main Factors ◽  
Underwater Tunnel ◽  
Save Energy ◽  
Almost All ◽  
Great Energy ◽  
Selection Of

Autonomous underwater vehicle (AUV) known, as a special purpose underwater research vehicle (SPURV) is really a pocket submarine that could be used in multipurpose such as meteorology, probing the pollution of stream, military spying, exploring an underwater tunnel or wrecked ships and other purposes. With the reason of the power of battery inside of AUV is limited, the aim of this paper is to represent an effect way of control the submerging and surfacing of an AUV in order to save energy for a longer time service or a deeper and further expedition under water. In fact, there are so many ways for saving energy of the battery of AUV and in this paper, the selection of keeping permanently the horizontal direction of the AUV in any operation as the situation of a real submarine is applied. The diving and surfacing of AUV are consigned to the motor of the pump that consumes a little of energy to keep the proportion of the weight and the Archimedes force by pumping water inside or outside of the AUV. The selection of volume of pumped water is considered as a dynamic ballast mass for maintaining the horizontal equilibrium of the AUV at the time of submerging and surfacing. In the other hand, the controlling of the gravity point of AUV for maintaining a fixed position of gravity of the AUV when submerging and surfacing are the main factors of the paper that is also investigated in this paper. Finally, the motor of the propeller or thruster that always spends a great energy has committed only for forward or backward motion of the AUV. In this measure, the motor of thruster does not confronted with a great consummation of energy when submerging and surfacing in an oblique direction as almost all popular measures of control of AUV.

Identification of a Variable Mass Underwater Vehicle Via Volterra Neural Network

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
T. Binazadeh ◽  
M. J. Yazdanpanah ◽  
M. H. Shafiei
Keyword(s):  
Neural Network ◽  
Vehicle Dynamics ◽  
Degrees Of Freedom ◽  
Variable Mass ◽  
Underwater Vehicle ◽  
Data Set ◽  
Six Degrees Of Freedom ◽  
Structure Selection ◽  
Recursive Parameter Estimation ◽  
Selection Of

The first step in designing a control system for a rigid body is to understand its dynamics. Underwater vehicle dynamics may be complex and difficult to model, mainly due to difficulties in observing and measuring actual underwater vehicle hydrodynamics response. This paper is concerned with structure selection of nonlinear polynomials in a Volterra polynomial basis function neural network and recursive parameter estimation of the selected model, in order to obtain a model of a variable mass underwater vehicle with six degrees of freedom using an input-output data set. The simulation results reveal the efficiency of the approach.

Fault Diagnosis of AUV’s Thrusters Based on SVM

2015 ◽  
Vol 738-739 ◽  
pp. 858-862
Author(s):  
Lei Wan ◽  
Ying Hao Zhang ◽  
Yu Shan Sun ◽  
Yue Ming Li
Keyword(s):  
Support Vector Machine ◽  
Fault Diagnosis ◽  
Marine Environment ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Small Sample ◽  
High Dimensional ◽  
Support Vector ◽  
Simulation Results

An autonomous underwater vehicle (AUV) should have the ability of adapting the complexity and unpredictability of the marine environment, which means that the technology of AUV’s fault diagnosis is very significant, especially the part of thrusters. In order to make it possible, one fault diagnosis strategy of AUV’s thrusters is proposed, which is based on the support vector machine (SVM). SVM has many unique advantages in solving small-sample, nonlinear and high dimensional problems. In this paper, different character signal is inputted SVM to train and test it. The simulation results show that the fault diagnosis of AUV’s thrusters based on offline SVM can classify the fault styles successfully, which proves its feasibility and effectiveness. This method offers a new way to solve the fault diagnosis of AUVs.

Optimization of multiple autonomous underwater vehicle cooperative system communication network topology based on total energy consumption

2020 ◽  
Vol 234 (3) ◽  
pp. 668-675
Author(s):  
Qingwei Liang ◽  
Junlin Ou ◽  
Liang Shi ◽  
Xin Zhang
Keyword(s):  
Communication Network ◽  
Energy Consumption ◽  
Total Energy ◽  
Network Topology ◽  
Optimization Problem ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Cooperative Systems ◽  
Total Energy Consumption ◽  
Topology Optimization Problem

Given the importance of the communication energy consumption of multiple autonomous underwater vehicle cooperative systems in practical work, this work optimizes the network topology to reduce total energy consumption. In accordance with the characteristics of underwater communication, the energy consumption of communication links is obtained, thereby obtaining the total communication energy consumption of multiple autonomous underwater vehicle cooperative systems. Taking the all-terminal reliability of the communication network as a constraint and the total energy consumption of network communication as the optimization goal, this work puts forward an optimization model for the communication network topology of multiple autonomous underwater vehicle cooperative systems. Furthermore, this work creatively describes the network topology optimization problem as a special path optimization problem suitable for the ant colony optimization algorithm presented to solve the optimization problem and shown to be effective and efficiency on this problem.

scholarly journals Estimation of Volumetric Oxygen Concentration in a Marine Environment with an Autonomous Underwater Vehicle

2012 ◽  
Vol 30 (1) ◽  
pp. 1-16 ◽  
Author(s):  
Christopher M. Clark ◽  
Kasper Hancke ◽  
Alex Xydes ◽  
Kevin Hall ◽  
Frank Schreiber ◽  
...  
Keyword(s):  
Oxygen Concentration ◽  
Marine Environment ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle
Sign in / Sign up

Export Citation Format

Share Document