Landing Motion Simulation of Autonomous Underwater Lurk Vehicle

2011 ◽  
Vol 366 ◽  
pp. 444-446
Author(s):  
Peng Zhang ◽  
Bao Wei Song ◽  
Xiao Xu Du
Keyword(s):  
Rigid Body ◽  
High Performance ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Motion Simulation ◽  
Great Contribution ◽  
Military Application ◽  
New Type ◽  
Simulation Results

Autonomous underwater lurk vehicle is a new type of autonomous underwater vehicle, and the advantages of autonomous underwater lurk vehicle are intelligent, long-term working, covert, high-performance and recyclables, etc. It leads great contribution to the civilian and military application. In this paper, the frames were built first. Then, based on rigid body momentum and moment of momentum theorem, the dynamics equation of autonomous underwater lurk vehicle was built. At last, the landing motion of the autonomous underwater lurk vehicle was simulated. The simulation results show preliminarily that the autonomous underwater lurk vehicle can steady complete the required landing motion.

scholarly journals Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

scholarly journals An Autonomous Underwater Vehicle Simulation Using Linear Quadratic Servo Based on Open Control Platform

2012 ◽  
Vol 2012 ◽  
pp. 1-4 ◽  
Author(s):  
Nanang Syahroni ◽  
Jae Weon Choi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
New Approach ◽  
Decentralized System ◽  
Vehicle Simulation ◽  
Depth Control ◽  
Open Control ◽  
Simulation Results ◽  
Optimal Regulator

This paper presents an optimal regulator for depth control simulation of an autonomous underwater vehicle (AUV) using a new approach of decentralized system environment called open control platform (OCP). Simulation results are presented to demonstrate performance of the proposed method.

A Novel Path Planning Algorithm for Autonomous Underwater Vehicle

2013 ◽  
Vol 446-447 ◽  
pp. 1271-1278
Author(s):  
Bo Yin ◽  
Bing Liu ◽  
Jing Cao
Keyword(s):  
Path Planning ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Moving Simulation ◽  
Path Planning Algorithm

A path planning algorithm based on sector scanning for AUV was proposed in this paper. By reducing the frequency of the calculation of the path planning, this method solved the problem that AUV can not respond to the frequent control instructions of path planning because of AUV’s poor flexibility. Meanwhile, by making the path more clear and reliable, the algorithm improved the operability of responding to the path planning results and operating the controlling of AUV’s moving. Simulation results show that this method is feasible and efficient.

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.

Multi-Functional High-Performance Cement Based Composite

2016 ◽  
Vol 677 ◽  
pp. 53-56 ◽  
Author(s):  
Zdeňka Bažantová ◽  
Karel Kolář ◽  
Petr Konvalinka ◽  
Jiří Litoš
Keyword(s):  
Mechanical Properties ◽  
Portland Cement ◽  
High Performance ◽  
Rapid Evolution ◽  
Volume Changes ◽  
Practical Utilization ◽  
Long Term Stability ◽  
New Type ◽  
Good Workability

The paper introduces development of new type of high-performance Portland cement based composite applicable for number of practical utilization. The fundaments of performed research was to design mixture with controlled process of hydration, easy production, suitable time of setting, good workability and rapid evolution of mechanical properties as well as satisfactory long-term stability of hardened composite. Selected mixture were evaluated by means of mechanical properties and volume changes determination.

Study on a New Nonlinear H∞ Guidance Law for Autonomous Underwater Vehicle

2011 ◽  
Vol 219-220 ◽  
pp. 362-365
Author(s):  
Hao Ding ◽  
Kui Ping Liu ◽  
Wen Li You
Keyword(s):  
Reference Frame ◽  
Relative Motion ◽  
High Performance ◽  
Autonomous Underwater Vehicle ◽  
Normal Load ◽  
Underwater Vehicle ◽  
Target Line ◽  
Line Of Sight ◽  
Guidance Law ◽  
Target Pursuit

The key for Autonomous Underwater Vehicle (AUV) to implement target pursuit is to design high performance guidance law. The globose reference frame is adopted, and equations for 3-D relative motion between AUV and the target are built. Then the H∞ theory is used, and a new AUV nonlinear H∞ guidance law is obtained by solving Hamilton-Jacobi inequation. Simulation is taken on to verify the performance of H∞ guidance law. And the results show that the H∞ guidance law can help AUV overtake the target in less time, and the azimuth and pitching angle of the target line of sight are always staying at the initial numerical values. Furthermore, the normal load decreases to zero gradually. So the guidance law is effective for AUV to pursuit target.

SIWPSO-Based Controller Design for AUV

2014 ◽  
Vol 525 ◽  
pp. 736-740
Author(s):  
Jau Woei Perng ◽  
Yi Shyang Huang ◽  
Shiang Shiuan Huang ◽  
Guan Yan Chen ◽  
Chin Yin Chen ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Dynamic Model ◽  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Proportional Integral Derivative ◽  
Swarm Optimization ◽  
Linear And Nonlinear ◽  
Simulation Results

A strategy is proposed for a control system with a linearized autonomous underwater vehicle (AUV) dynamic model. The proposed approach combines the particle swarm optimization (PSO) and proportional-integral-derivative (PID) controller to adjust the parameters of the linearized dynamic model. The linear and nonlinear model are both considered in our work. The proposed techniques is verified by using the simulation results to the model of AUV.

The Design and Implementation of a Low-Cost Autonomous Underwater Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 154-157
Author(s):  
Ning Luan ◽  
Bo He ◽  
Hao Zhang
Keyword(s):  
Control System ◽  
Autonomous Navigation ◽  
Autonomous Underwater Vehicle ◽  
Low Cost ◽  
Underwater Vehicle ◽  
Level Control ◽  
Compact Structure ◽  
Military Application ◽  
Design And Implementation ◽  
Navigation Algorithm

An autonomous underwater vehicle (AUV) with the advantages of compact structure, good mobility and low-cost will be better used in the field of marine scientific research and military application. This paper introduces the bottom-level control subsystem and autonomous navigation algorithm of the low-cost AUV. In order to prove that the control system has good robustness, some simulations and lake tests were conducted. The results show inertial navigation algorithm based on AHRS, digital compass and GPS can achieve good performance.

Complementary control for robots with actuator redundancy: an underwater vehicle application

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 206-223 ◽  
Author(s):  
Giovanni Indiveri ◽  
Alessandro Malerba
Keyword(s):  
Data Processing ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Sensor Data ◽  
Design Data ◽  
State Space Methods ◽  
Alternative State ◽  
State Estimators ◽  
Simulation Results ◽  
Main Ideas

SUMMARYComplementary filtering is a frequency based method used to design data processing algorithms exploiting signals with complementary spectra. The technique is mostly used in sensor fusion architectures, but it may also be effective in the design of state estimators. In spite of its potential in several areas of robotics, the complementary filtering paradigm is poorly used as compared to alternative time domain methods. The first part of the paper aims at reviewing the basics of complementary filtering in sensor data processing and linear systems state estimation. The second part of the paper describes how to exploit the main ideas of complementary filtering to design a depth controller for an actuator redundant autonomous underwater vehicle (AUV). Unlike with alternative state space methods commonly used to address the design of control solutions for actuator redundant systems, the proposed approach allows to fully exploit the knowledge of frequency characteristics of actuators. Simulation results are reported to demonstrate the effectiveness of the proposed solution.

scholarly journals Autonomous Underwater Vehicle Localization Using Sound Measurements of Passing Ships

2020 ◽  
Vol 10 (24) ◽  
pp. 9139
Author(s):  
Jonghoek Kim
Keyword(s):  
Autonomous Underwater Vehicle ◽  
A Priori ◽  
Underwater Vehicle ◽  
Vehicle Localization ◽  
Inertial Measurement ◽  
Localization Method ◽  
Long Time ◽  
Measurement Units ◽  
Source Level

This paper introduces the localization method of an Autonomous Underwater Vehicle (AUV) in environments (such as harbors or ports) where there can be passing ships near the AUV. It is assumed that the AUV can access the trajectory and approximate source level of a passing ship, while identifying the ship by processing the ship’s sound. This paper considers an AUV which can localize itself by integrating propeller and Inertial Measurement Units (IMU). Suppose that the AUV has been moving in underwater environments for a long time, under the IMU-only localization. To fix long-term drift in the IMU-only localization, we propose that the AUV localization uses sound measurements of passing ships whose trajectories are known a priori. As far as we know, this AUV localization method is novel in using sound measurements of passing ships of which the trajectories are known a priori. The performance of the proposed localization method is verified utilizing MATLAB simulations. The simulation results show significant estimation improvements, compared to IMU-only localization. Moreover, using measurements from multiple ships gives better estimation results, compared to the case where the measurement of a single ship is used.

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