scholarly journals Adaptive multilayer management remotely operated underwater vehicle

2021 ◽  
pp. 245-251
Author(s):  
И.М. Данцевич
Keyword(s):  
Frequency Control ◽  
Quality Criteria ◽  
Underwater Vehicle ◽  
Neural System ◽  
Steering System ◽  
Control Signal ◽  
Cascade Algorithm ◽  
Control Signals ◽  
Manual Adjustment ◽  
Control Feedback

В статье рассматривается самоорганизующаяся адаптивная система управления телеуправляемыми необитаемыми подводными аппаратами. Адаптивная нейронная система многослойного управления построена по принципу декомпозиции мультичастотного набора входных сигналов, формируемых в адаптивном джойстике управления. Декомпозиция наборов последовательностей управляющих сигналов проходит процедуру трешолдинга, разделения по оценкам спектра мультичастотного сигнала управления. Каскадный алгоритм построен по принципу интерполяции и децимации коэффициентов фильтра. Трешолдинг реализуется свёрткой форматного кадра управляющего сигнала с коэффициентами всплеск формирующего фильтра в базисе всплесков Добеши. Интерполяция коэффициентов фильтра происходит сдвигом частоты, децимация схлопыванием коэффициентов фильтра. Спектральные оценки, построенные по среднеквадратическому значению спектра, укладываются в спектральный радиус нормированного сигнала и формируют матрицу математического ожидания адаптивного сигнала управления. Реакции пилота телеуправляемого необитаемого подводного аппарата формируют управляющие сигналы в трёх плоскостях с заданными скоростями и моментами. Трешолдинг в базисе всплесков позволяет формировать сигналы управления с оптимальной крутизной выходной характеристики, что позволяет отказаться от необходимой ручной регулировки мощностей движителей двигательно-рулевого комплекса, при реализации полуавтоматичеcкого и автоматического управления. Обратная связь системы управления по наблюдаемой динамике позволяет реализовать функцию автопилота, с учётом заданных критериев качества. The article discusses the self-organizing adaptive system management remotely operated underwater vehicle. Adaptive neural system of multilayer control is built on the principle of decomposition of multi-frequency set of input signals generated in adaptive joystick of management. The decomposition of the sets of control signal sequences undergoes the procedure of tresholding, separation by estimates of the spectrum of the multi-frequency control signal. The cascade algorithm is based on the principle of interpolation and decimation of filter coefficients. Tresholding is implemented by convolving the format frame of the control signal with wavelet coefficients of the forming filter in the basis of Dobeshi wavelet. Interpolation of filter coefficients occurs by frequency shift, decimation by collapse of filter coefficients. Spectral estimates based on the standard value of the spectrum fit into the spectral radius of the normalized signal and form a matrix of mathematical expectation of the adaptive control signal. The reactions of the pilot of a remotely operated underwater vehicle form control signals in three planes with given speeds and moments. Tresholding in the basis of wavelets allows you to generate control signals with an optimal slope of the output characteristic, which allows you to abandon the necessary manual adjustment of the powers of the propulsion engines of the engine-steering system, when implementing semi-automatic and automatic control. Feedback of the control system according to the observed dynamics allows implementing the autopilot function, taking into account the specified quality criteria.

scholarly journals Fault Risk Assessment of Underwater Vehicle Steering System Based on Virtual Prototyping and Monte Carlo Simulation

2016 ◽  
Vol 23 (3) ◽  
pp. 97-105
Author(s):  
Deyu He ◽  
Niaoqing Hu ◽  
Lei Hu ◽  
Ling Chen ◽  
YiPing Guo ◽  
...  
Keyword(s):  
Risk Assessment ◽  
Monte Carlo Simulation ◽  
Monte Carlo ◽  
Fault Injection ◽  
Fault Simulation ◽  
Virtual Prototyping ◽  
Underwater Vehicle ◽  
Steering System ◽  
Assessment Method ◽  
Risk Indicator

Abstract Assessing the risks of steering system faults in underwater vehicles is a human-machine-environment (HME) systematic safety field that studies faults in the steering system itself, the driver’s human reliability (HR) and various environmental conditions. This paper proposed a fault risk assessment method for an underwater vehicle steering system based on virtual prototyping and Monte Carlo simulation. A virtual steering system prototype was established and validated to rectify a lack of historic fault data. Fault injection and simulation were conducted to acquire fault simulation data. A Monte Carlo simulation was adopted that integrated randomness due to the human operator and environment. Randomness and uncertainty of the human, machine and environment were integrated in the method to obtain a probabilistic risk indicator. To verify the proposed method, a case of stuck rudder fault (SRF) risk assessment was studied. This method may provide a novel solution for fault risk assessment of a vehicle or other general HME system.

Fractional order frequency proportional-integral-derivative control of microgrid consisting of renewable energy sources based on multi-objective grasshopper optimization algorithm

2021 ◽  
pp. 014233122110346
Author(s):  
Abdulsamed Tabak
Keyword(s):  
Fractional Order ◽  
Optimization Algorithm ◽  
Frequency Control ◽  
Frequency Deviation ◽  
Control Signal ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Multi Objective ◽  
Grasshopper Optimization Algorithm ◽  
Grasshopper Optimization

In recent years, fractional order proportional-integral-derivative (FOPID) controllers have been applied in different areas in the academy due to their superior performance over conventional proportional-integral-derivative (PID) controllers. When the literature is reviewed, it has been observed that lack of studies that use swarm-based and multi-objective optimization algorithms together with FOPID controllers in frequency control of micro-grid. The load frequency control (LFC) problem is considered as two objectives in order to eliminate the complications that occur when only the frequency deviation is minimized. In our study, a method called MOGOA-FOPID in which both the frequency deviation and the control signal are minimized together for the frequency control in the microgrid is proposed. By using the multi-objective grasshopper optimization algorithm (MOGOA), both the frequency deviation and the control signal are minimized together, and thus, it is aimed to limit the battery capacity, reduce the flywheel jerk and avoid high diesel fuel consumption as well as an effective frequency control. In order to obtain a more realistic system, not only the photovoltaic (PV) solar and wind power but also the load demand is taken in a stochastic structure. Then, the results of the proposed MOGOA-FOPID are compared with the results of multi-objective genetic algorithm (MOGA)-based PID/FOPID and MOGOA-PID and its superiority is demonstrated. Finally, robustness tests of the system are performed under the perturbed parameters and outperform of MOGOA-FOPID over other methods is seen.

Effectiveness of the eastern grey kangaroo foot thump for deterring conspecifics

2005 ◽  
Vol 32 (7) ◽  
pp. 649 ◽  
Author(s):  
Helena Bender
Keyword(s):  
Background Noise ◽  
Noise Control ◽  
Control Signal ◽  
Wild Populations ◽  
Target Species ◽  
Primary Industry ◽  
Control Signals ◽  
Grey Kangaroo ◽  
Natural Sound

Overabundant wild populations of herbivores often present challenges to primary industry, competing with stock, and damaging crops and property. Eastern grey kangaroos (Macropus giganteus) are one of seven macropodid species that are considered a problem in agriculture in Australia. Most deterrent devices available commercially use sounds that do not occur in nature (i.e. artificial sounds), which often have a short-lived or no effect on the target species, whereas trials with biologically significant sounds are often more effective and provide greater resistance to habituation. I used a playback trial of an eastern grey kangaroo foot thump, a biologically significant signal that is given in response to a predator and is usually followed by flight. I determined its effectiveness compared with a recording of background noise (control) for deterring kangaroos over a seven-week period. Kangaroos significantly increased their vigilance levels in response to the foot thump, but not in response to the control signal. Just over 60% of kangaroos took flight in response to the foot thump and the control signals, but more kangaroos took flight in the first 3 s when the foot thump was played. The foot thump shows potential as a deterrent of eastern grey kangaroos for primary industry, and is less likely to suffer from habituation because it is a natural sound.

scholarly journals Digital Watermarks with Adaptive Information Ring Width in the Issue of Hidden Transmission of a Control Signal in the Multi-Target Robotic System

2020 ◽  
Vol 24 (2) ◽  
pp. 136-152
Author(s):  
O. O. Shumskaya ◽  
A. О. Iskhakova
Keyword(s):  
Ring Width ◽  
Digital Watermark ◽  
Robotic System ◽  
Control Signal ◽  
Image Rotation ◽  
Control Signals ◽  
Multi Agent ◽  
Digital Watermarks ◽  
Transmitted Signal ◽  
Hidden Data

Purpose of research. The article is devoted to the issue of ensuring the safe transmission of control signals between the elements of a multi-agent robotic system. The purpose of the work is to provide hidden data transmission with the possibility of unambiguous extraction of control signals.Methods. To solve the task set, an algorithm based on the methods of digital watermarks and digital steganography was proposed. The method of forming a digital watermark in the form of a ring with symmetry allows not only ensuring maximum imperceptibility of embedding (insignificant distortion of the container during concealment), but also to protect the transmitted signal from such complex distortions as image rotation. The steganographic concealment method allows regulating the intensity of embedding using the force factor; it is computationally simple and straightforward. The proposed approach to identifying and understanding the transmitted signal differs from modern methods of cryptography and steganalysis in that it does not require 100% correct signal extraction. After several modifications, the method allows minimizing the time spent on formation (adaptive width of the ring with signal bits) and embedding of a digital watermark (minimization of the processed area of the container for embedding).Results. The proposed approach makes it possible to transmit control signals in a hidden way within the framework of the transmission of digital objects; the conducted experiments have shown that the control signal is unambiguously understood even with such distortions as a decrease or increase in contrast or brightness, image rotation, and compression.Conclusion. Application of the proposed technique for transmitting control signals in a multi-agent robotic system will male it possible to receive the necessary information timely and safe, with a minimum probability of loss.

scholarly journals Synthesis of a scalar ACS of the valve motor rotational speed for the icebreaker's ERM with a propulsion-steering complex "Azipod"

2021 ◽  
pp. 207-214
Author(s):  
В.Е. Высоцкий ◽  
С.А. Конева ◽  
И.Ю. Марков ◽  
В.М. Цалоев
Keyword(s):  
Electric Drive ◽  
Rotational Speed ◽  
Dynamic Properties ◽  
Frequency Control ◽  
Structural Complexity ◽  
Steering System ◽  
Electromagnetic Excitation ◽  
Electromechanical Energy Conversion ◽  
Drive Systems ◽  
Valve Engine

В статье рассматриваются основные тенденции развития систем судового автоматизированного электропривода с машинами переменного тока. В частности представлены варианты реализации электропривода с использованием частотно управляемых асинхронных двигателей и синхронных двигателей с электромагнитным возбуждением. Предлагается перспективная электромеханическая система на основе вентильного двигателя для ГЭУ ледокола с движительно-рулевым комплексом «Азипод». Целью работы является исключение структурной сложности и повышения функциональных возможностей электропривода за счет применения скалярной САУ частоты вращения вентильного двигателя вместо векторной для ГЭУ. Новизна заключается в использовании подхода и представления вентильного двигателя как объекта регулирования на основе аналогии с коллекторным двигателем постоянного тока при регулировании положения его оси токосъема. В соответствии с этим анализ информационных процессов, связанных с процессами электромеханического преобразования энергии, протекающими в синхронной машине с позиционно-зависимым частотным управлением, и синтез САУ электропривода по принципу подчиненного регулирования базируются на тех подходах, которые широко используются в регулируемых электроприводах постоянного тока, обладающих наилучшими динамическими свойствами. The article discusses the main trends in the development of marine automated electric drive systems with AC machines. In particular, variants of the implementation of an electric drive using frequency-controlled asynchronous motors and synchronous motors with electromagnetic excitation are presented. A promising electromechanical system based on a valve engine for the icebreaker's ERM with the propulsion-steering system Azipod is proposed. The aim of the work is to eliminate the structural complexity and to increase the functionality of the electric drive by using a scalar ACS of the valve motor rotational speed instead of a vector one for the ERM. The novelty lies in the use of the approach and representation of the valve motor as an object of regulation based on the analogy with the collector DC motor when regulating the position of its current collection axis. Thereby, the analysis of information processes related to the processes of electromechanical energy conversion occurring in a synchronous machine with position-dependent frequency control, and the synthesis of an ACS electric drive based on the principle of subordinate regulation are based on those approaches that are widely used in regulated DC electric drives possessing the best dynamic properties.

scholarly journals Optimisation of Energy Use in Bioethanol Production Using a Control Algorithm

Processes ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 282
Author(s):  
Jarosław Knaga ◽  
Stanisław Lis ◽  
Sławomir Kurpaska ◽  
Piotr Łyszczarz ◽  
Marcin Tomasik
Keyword(s):  
Energy Consumption ◽  
Pid Controller ◽  
Control Algorithm ◽  
Control Signal ◽  
Control Algorithms ◽  
Signal Quality ◽  
Control Signals ◽  
And Control ◽  
Rectification Process

In this work, the possibility of limiting energy consumption in the manufacturing process of bioethanol to obtain biofuel was analysed. For this purpose, a control algorithm has been optimised while retaining the good quality of the control signals. New in this study is the correlation of the control algorithm not only with the signal’s quality, but also with the energy consumption in such an energy-intensive process as rectification. The rectification process in a periodic production system has been researched. The process was modelled on a test station with the distillation mixture capacity of 25 dm3. For the optimization, the following control algorithms have been applied: relay, PID and PID after modification to I-PD. The simulation was carried out on a transfer function model of the plant that has been verified on a real object, a rectification column. The simulations of energy consumption and control signal’s quality have been carried out in the Matlab®-Simulink environment after implementing the model of the research subject and control algorithms. In the simulation process, an interference signal with an amplitude of 3% and frequency of 2 mHz was used. The executed analyses of the control signal quality and the influence of the control algorithm on the energy consumption has shown some essential mutual relationships. The lowest energy consumption in the rectification process can be achieved using the I-PD controller—however, the signal quality deteriorates. The energy savings are slightly lower while using the PID controller, but the control signal quality improves significantly. From a practical point of view, in the considered problem the best control solution is the classic PID controller—the obtained energy effect was only slightly lower while retaining the good quality of the control signals.

Extracting Initial Iterative Control Signal Based on Trajectory Primitives Matching and Combining

2017 ◽  
Vol 21 (2) ◽  
pp. 228-234
Author(s):  
Jianming Xu ◽  
◽  
Lingxin Kong ◽  
Yaodong Wang
Keyword(s):  
Iterative Learning Control ◽  
Similarity Index ◽  
Control Signal ◽  
Optimal Matching ◽  
B Splines ◽  
Control Information ◽  
Control Signals ◽  
Primitive Sequences ◽  
Definition Of ◽  
Iterative Control

The initial iterative control signal is often adopted a zero or a certain value in the conventional iterative learning control (ILC) system, and an ILC process needs to renew again as long as the desired trajectory is changed. In this paper, the NURBS (Non-Uniform Rational B-Splines) model is used for describing all trajectory primitives and the desired trajectory. It is studied that the problem of the initial iterative control signal is extracted in ILC, which presents a method of extracting the initial iterative control signal based on the trajectory primitive optimal matching and combining algorithm. Firstly, the definition of the similarity index between the two different spacial trajectories is introduced. Secondly, an optimal matching and combining algorithm is designed under a certain similarity index, which is used to find two or more combined primitive sequences with space patterns similar to the desired trajectory. Thirdly, the initial iterative control signals of the desired trajectory are extracted by using the control information of the combined primitive sequences. Finally, the simulation is carried out to demonstrate the effectiveness of the present method.

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